Related papers: Feasibility of multiple robust control barrier fun…
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine…
Control barrier functions (CBFs) offer a powerful tool for enforcing safety specifications in control synthesis. This paper deals with the problem of constructing valid CBFs. Given a second-order system and any desired safety set with…
This paper focuses on safety critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach…
This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and…
In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that…
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space.…
Control barrier functions (CBFs) provide an effective framework for enforcing safety in dynamical systems with scalar constraints. However, many safety constraints are more naturally expressed as matrix-valued conditions, such as positive…
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effort than it is capable of generating. This inevitably leads…
This paper investigates the problem of composing multiple control barrier functions (CBFs) -- and matrix control barrier functions (MCBFs) -- through logical and combinatorial operations. Standard CBF formulations naturally enable…
Set invariance techniques such as control barrier functions (CBFs) can be used to enforce time-varying constraints such as keeping a safe distance from dynamic objects. However, existing methods for enforcing time-varying constraints often…
It has been shown that satisfying state and control constraints while optimizing quadratic costs subject to desired (sets of) state convergence for affine control systems can be reduced to a sequence of quadratic programs (QPs) by using…
Control barrier functions (CBFs) have emerged as a popular topic in safety critical control due to their ability to provide formal safety guarantees for dynamical systems. Despite their powerful capabilities, the determination of feasible…
We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…
Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational…
This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…
Safety-critical control is a crucial aspect of modern systems, and Control Barrier Functions (CBFs) have gained popularity as the framework of choice for ensuring safety. However, implementing a CBF requires exact knowledge of the true…
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…