This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically defined tracking controller, thereby enforcing safety in state and input through a minimally invasive I-CBF controller framed as a quadratic program.
@article{arxiv.2006.16936,
title = {Integral Control Barrier Functions for Dynamically Defined Control Laws},
author = {Aaron D. Ames and Gennaro Notomista and Yorai Wardi and Magnus Egerstedt},
journal= {arXiv preprint arXiv:2006.16936},
year = {2020}
}