 theory%2C and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the lens of CBFs. However%2C these conditions depend on time-varying and noisy parameters. To address this issue%2C we present a differentiator-based safety-critical controller that estimates these parameters and pairs Input-to-State Stable (ISS) differentiator dynamics with CBFs to achieve rigorous safety guarantees. Additionally%2C to ensure safety in the presence of disturbances%2C we utilize a time-varying extension of Projection-to-State Safety (PSSf). The effectiveness of the proposed method is demonstrated via experiments on a tracked robot with a rollover potential on steep slopes.?quality=80&w=1200)
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