Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Safety-Critical Control using Optimal-decay Control Barrier Function
  with Guaranteed Point-wise Feasibility   Safety is one of the fundamental problems in robotics. Recently, a quadratic
program-based control barrier function (CBF) method has emerged as a way to
enforce safety-critical constraints. Together with control Lyapunov function
(CLF), it forms a safety-critical control strategy, named CLF-CBF-QP, which can
mediate between achieving the control objective and ensuring safety, while
being executable in real-time. However, once additional constraints such as
input constraints are introduced, the CLF-CBF-QP may encounter infeasibility.
In order to address the challenge that arises due to the infeasibility, we
propose an optimal-decay form for safety-critical control wherein the decay
rate of the CBF is optimized point-wise in time so as to guarantee point-wise
feasibility when the state lies inside the safe set. The proposed control
design is numerically validated using an adaptive cruise control example.

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The categories of this paper are: quant-ph
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The categories of this paper are: math-ph
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The categories of this paper are: supr-con
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The categories of this paper are: cmp-lg
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The categories of this paper are: stat
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The categories of this paper are: astro-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: chao-dyn
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The categories of this paper are: atom-ph
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The categories of this paper are: solv-int
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The categories of this paper are: q-alg
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The categories of this paper are: nlin
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The categories of this paper are: nucl-th
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The categories of this paper are: econ
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The categories of this paper are: dg-ga
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The categories of this paper are: q-bio