Safe Control Synthesis via Input Constrained Control Barrier Functions

Abstract

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for non-linear control affine systems with input constraints. The method identifies a subset of the safe set of states, and constructs a controller to render the subset forward invariant. The feedback controller is represented as the solution to a quadratic program, which can be solved efficiently for real-time implementation. Furthermore, we show that ICCBFs are a generalization of Higher Order Control Barrier Functions, and thus are applicable to systems of non-uniform relative degree. Simulation results are presented for the adaptive cruise control problem, and a spacecraft rendezvous problem.

arXiv comment8 pages, 3 figures, submitted to Conference on Decision and Control 2021

References in corpus (3)

• Control Barrier Function Based Quadratic Programs for Safety Critical Systems
• Forward-Mode Automatic Differentiation in Julia
• Control-Lyapunov and Control-Barrier Functions based Quadratic Program for Spatio-temporal Specifications

Cited by in corpus (6)

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• Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
• Safety Critical Control for Nonlinear Systems with Complex Input Constraints
• Feasibility of multiple robust control barrier functions for bounding box constraints
• Independence of Closed-Loop Equilibria and Stability from the Choice of Control Barrier Function for a Given Safe Set