Barrier Function SMC - State Constraint Enforcement
0
0.5
1
1.5
2
2.5
3
3.5
4
-4
-3
-2
-1
0
1
2
3
4
Time (s)
x₁ (position)
State Response (Constraint: |x| < 4)
Conventional SMC
Barrier SMC
0
0.5
1
1.5
2
2.5
3
3.5
4
-14
-12
-10
-8
-6
-4
-2
0
2
4
6
8
10
Time (s)
u(t)
Control Signal
Conventional
Barrier