On the Feasibility and Continuity of Feedback Controllers Defined by Multiple Control Barrier Functions

• Published in: IEEE transactions on automatic control Vol. 69; no. 11; pp. 7326 - 7339
• Main Authors: Isaly, Axton, Ghanbarpour, Masoumeh, Sanfelice, Ricardo G., Dixon, Warren E.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Constraints; Continuity (mathematics); Control systems design; Design optimization; Dynamical systems; Feasibility; Feedback control; Iterative methods; Lyapunov methods; nonlinear control systems; Optimization; Polynomials; Process control; Safety; Weapons

Control barrier functions (CBFs) are a popular method for encoding safety specifications for dynamical systems. In this article, a notion of CBF is defined that permits vector-valued barrier functions and flow constraints involving both the state and the control input. CBFs induce constraints on the...