The effect of control barrier functions on energy transfers in controlled physical systems
<|reference_start|>The effect of control barrier functions on energy transfers in controlled physical systems: Using a port-Hamiltonian formalism, we show the qualitative and quantitative effect of safety-critical control implemented with control barrier functions (CBFs) on the power balance of controlled physical systems. The presented results will provide novel tools to design CBFs inducing desired energetic behaviors of the closed-loop system, including nontrivial damping injection effects and non-passive control actions, effectively injecting energy in the system in a controlled manner. Simulations validate the stated results.<|reference_end|>
@article{califano2024the,
    title={The effect of control barrier functions on energy transfers in
  controlled physical systems},
    author={Federico Califano, Riccardo Zanella, Alessandro Macchelli, Stefano
  Stramigioli},
    journal={arXiv preprint arXiv:2406.13420},
    year={2024},
    archivePrefix={arXiv},
    eprint={2406.13420},
    primaryClass={eess.SY cs.SY}
}