1.一些概念
1.1 Relative degree
对于连续可微函数b : R n → R b:R^n\to Rb:Rn→R，关于系统x ˙ = f ( x ) + g ( x ) u \dot x=f(x)+g(x)ux˙=f(x)+g(x)u的相对阶指显式表示u uu所需要求导的次数。[ 1 ] ^{[1]}[1]
参考文献
[1] Wei X, Belta C. Control Barrier Functions for Systems with High Relative Degree[C]// 2019 IEEE 58th Conference on Decision and Control (CDC). Nice: IEEE, 2019.
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