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Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions — arXiv:2609.14104

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.14104
License (as archived): CC0-1.0
Archived: 2026-10-16T02:57:55.752Z
SHA-256 of the archived text: 34a68ff9a6c8d385ff9ae206491595d29798a87cd9ad431d292c27097cbbba89
Stable URL of this page: https://metraipolis.com/documento/dc_6bfbb5d86ae0

How to cite

Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions — arXiv:2609.14104 — arXiv (en), https://arxiv.org/abs/2609.14104 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_6bfbb5d86ae0 (Metraipolis archive dc_6bfbb5d86ae0, sha256 34a68ff9a6c8d385ff9ae206491595d29798a87cd9ad431d292c27097cbbba89)

BibTeX

@misc{dc6bfbb5d86ae0,
  title = {Functional Observers for Output-Feedback Safety with High-Order Control Barrier Functions — arXiv:2609.14104},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.14104},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_6bfbb5d86ae0; sha256 34a68ff9a6c8d385ff9ae206491595d29798a87cd9ad431d292c27097cbbba89},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.14104. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

This paper studies output-feedback safety filtering for linear systems using high-order control barrier functions (HOCBFs) when the full state is unavailable. Since the HOCBF conditions depend only on specific state functionals, full-state reconstruction is unnecessary; instead, their implementation requires only functional observability or detectability of these quantities. We show that the HOCBF gains determine the required functionals and hence their observability properties, coupling safety and estimation design. We exploit this structure using scalar functional observers and develop a polynomial co-design framework that characterizes HOCBF observability and detectability, observer existence and order, and convergence-rate limitations. A certified one-sided estimation-error bound then enables safe output-feedback implementation.

Tema degli esploratori: calcolo e infrastrutture (retro-catalogo arXiv: annunci del 2026-09-15 in eess.SY).
Categorie arXiv: Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.14104 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-16T02:45:08.531Z dalla pagina https://arxiv.org/catchup/eess.SY/2026-09-15?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).