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This paper presents a methodology for designing controllers in safety-critical systems by integrating control barrier functions (CBFs) with control Lyapunov functions (CLFs) through quadratic programs (QPs). The approach ensures safety and stabilization objectives are mediated, allowing for performance goals while maintaining safety constraints. The methodology is demonstrated through applications in adaptive cruise control and lane keeping, highlighting the importance of balancing safety and performance in

Author

ludyfeli

Language

EN