Safety and Stability of Nonlinear Systems With Multiple High-Relative-Degree Time-Varying State Constraints:Theory and Its Application to UAV TrackingOA

作者：Fan Yang;Jiangping Hu;Qingrui Zhou;Xiaoming Hu

作者单位：School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731||Yangtze Delta Region Institute(Huzhou),University of Electronic Science and Technology of China,Huzhou 313001,ChinaSchool of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731||Yangtze Delta Region Institute(Huzhou),University of Electronic Science and Technology of China,Huzhou 313001,ChinaQianxuesen Laboratory for Space Technology,China Academy of Space Technology,Beijing 100094,ChinaKTH Royal Institute of Technology,Stockholm SE-100 44,Sweden

中文关键词：High-relative-degree state constraintsminimally invasive approachsafety-critical systemstime-varying nonlinear control barrier function(TVNCBF)UAV tracking

英文关键词：High-relative-degree state constraintsminimally invasive approachsafety-critical systemstime-varying nonlinear control barrier function(TVNCBF)UAV tracking

刊名：《自动化学报（英文版）》 2026 (6)

页码/页数：1446-1458,13

基金：This work was partially supported by the National Key Research and Development Program of China(2022YFE0133100),the State Key Program of National Natural Science Foundation of China(U21B2008),and by the Sichuan Science and Technology Program(2024NSFSC0528).

DOI：10.1109/JAS.2025.125990