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.
@article{arxiv.2104.01704,
title = {Safe Control Synthesis via Input Constrained Control Barrier Functions},
author = {Devansh Agrawal and Dimitra Panagou},
journal= {arXiv preprint arXiv:2104.01704},
year = {2023}
}
Comments
8 pages, 3 figures, submitted to Conference on Decision and Control 2021