Year: 2025
Type: preprint
Abstract: 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 synthesize provably safe controllers that handle multiple state constraints. This paper presents a framework for constrained control of nonlinear systems subject to box constraints on the systems' vector-valued outputs using multiple CBFs. Our results illustrate that when the output has a vector relative degree, the CBF constraints encoding these box constraints are compatible, and the resulting optimization-based controller is locally Lipschitz continuous and admits a closed-form expression. Additional results are presented to characterize the degradation of nominal tracking objectives in the presence of safety constraints. Simulations of a planar quadrotor are presented to demonstrate the efficacy of the proposed framework.
Source: arXiv (Cornell University)
Authors: Cohen, Max H., Lavretsky, Eugene, Ames, Aaron D.
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7080182330
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