Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust Control Barrier Functions under High Relative Degree and Input
  Constraints for Satellite Trajectories   This paper presents methodologies for constructing Control Barrier Functions
(CBFs) for nonlinear, control-affine systems, in the presence of input
constraints and bounded disturbances. More specifically, given a constraint
function with high-relative-degree with respect to the system dynamics, the
paper considers three methodologies, two for relative-degree 2 and one for
higher relative-degrees, for converting the constraint function into a CBF.
Three special forms of Robust CBFs (RCBFs) are developed as functions of the
input constraints, system dynamics, and disturbance bounds, and are applied to
provably safe satellite control for asteroid exploration missions. The
resultant RCBF conditions on the control input are enforced in a switched
fashion, which allows the satellite to operate safely without enforcing the CBF
condition when far from the safe set boundary and allows tuning of how closely
trajectories approach the safe set boundary. The proposed methods are verified
in simulations demonstrating the developed RCBFs in an asteroid flyby scenario
for a satellite with low-thrust actuators, and in asteroid proximity operations
for a satellite with high-thrust actuators.

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The categories of this paper are: dg-ga
36
The categories of this paper are: cmp-lg
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The categories of this paper are: nucl-ex
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The categories of this paper are: stat
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The categories of this paper are: math-ph
7
The categories of this paper are: hep-th
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The categories of this paper are: chao-dyn
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The categories of this paper are: comp-gas
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The categories of this paper are: q-fin
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The categories of this paper are: patt-sol
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The categories of this paper are: econ
33
The categories of this paper are: plasm-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: adap-org
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The categories of this paper are: atom-ph
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The categories of this paper are: supr-con