**Chapter 9**

programming with barrier constraints," IEEE Control Systems Letters*,* pp. 1–1,

[68] H. K. Khalil, *Nonlinear Systems*, 3rd

[69] S. Prajna, A. Jadbabaie, and G. J. Pappas, "Stochastic safety verification using barrier certificates," in *IEEE Conference on Decision and Control*, vol.

[70] E. D. Sontag, "A lyapunov-like characterization of asymptotic controllability," SIAM Journal on Control and Optimization, vol. 21, no. 3,

[71] W. E. Dixon, "Adaptive regulation of amplitude limited robot manipulators

[72] M. W. Spong, S. Hutchinson, and M. Vidyasagar, *Robot modeling and control*.

[73] R. Funada, M. Santos, J. Yamauchi,

Egerstedt, "Visual coverage control for teams of quadcopters via control barrier

with uncertain kinematics and dynamics," IEEE Transactions on Automatic Control, vol. 52, no. 3,

Wiley New York, 2006, vol. 3.

T. Hatanaka, M. Fujita, and M.

functions," in *2019 International Conference on Robotics and Automation*

*(ICRA)*, 2019, pp. 3010–3016.

ed. Prentice Hall, 2002.

1. IEEE, 2004, pp. 929–934.

pp. 462–471, 1983.

pp. 488–493, 2007.

[62] J. F. Fisac, A. K. Akametalu, M. N. Zeilinger, S. Kaynama, J. Gillula, and C. J. Tomlin, "A general safety framework for learning-based control in uncertain robotic systems," IEEE Transactions on Automatic Control, vol. 64, no. 7,

[63] T. Schouwenaars, J. How, and E. Feron, "Receding horizon path planning with implicit safety guarantees," in *Proceedings of the American Control Conference*, 2004, pp. 5576–5581.

[64] L. S. Breger and J. P. How, "Safe trajectories for autonomous rendezvous of spacecraft," Journal of Guidance, Control, and Dynamics, vol. 31, no. 5,

[65] Y. Mao, D. Dueri, M. Szmuk, and B.

convexification of non-convex optimal

[66] N. Hovakimyan, C. Cao, E. Kharisov, E. Xargay, and I. M. Gregory, "l1 adaptive control for safety-critical systems," IEEE Control Systems Magazine, vol. 31, no. 5,

[67] I. Salehi, G. Rotithor, D. Trombetta, and A. P. Dani, "Safe tracking control of an uncertain euler-lagrange system with full-state constraints using barrier functions," in *59th IEEE Conference on Decision and Control (CDC)*. IEEE,

constraints," in *IFAC-PapersOnLine*,

[61] G. P. Kontoudis and K. G. Vamvoudakis, "Kinodynamic motion planning with continuous-time qlearning: An online, model-free, and safe navigation framework," IEEE Transactions on Neural Networks and Learning Systems, vol. 30, no. 12,

*Collaborative and Humanoid Robots*

pp. 3803–3817, 2019.

pp. 2737–2752, 2018.

pp. 1478–1489, 2008.

2017, pp. 4063–4069.

pp. 54–104, 2011.

2020, pp. 3310–3315.

**146**

Açıkmeşe, "Successive 20

control problems with state

2020.
