Matheus F. Rei; António Pedro Aguiar; Paulo Tabuada ID Authenticus: P-00R-YQF DOI: 10.1109/lcsys.2020.3004797 Abstract (EN): Control Lyapunov functions (CLFs) and control barrier functions (CBFs) have been used to develop provably safe controllers by means of quadratic programs (QPs), guaranteeing safety in the form of trajectory invariance with respect to a given set. In this letter, we show that … Continue reading Control Barrier Function-Based Quadratic Programs Introduce Undesirable Asymptotically Stable Equilibria