Published December 6, 2023 | Published
Journal Article

Composing Control Barrier Functions for Complex Safety Specifications

  • 1. ROR icon California Institute of Technology
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Abstract

The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control barrier functions (CBFs). The specifications are formulated as Boolean compositions of state constraints, and we propose an algorithmic way to create a single continuously differentiable CBF that captures these constraints and enables safety-critical control. We describe the properties of the proposed CBF, and we demonstrate its efficacy by numerical simulations.

Copyright and License

© 2023 IEEE.

Acknowledgement

This work was supported in part by the National Science Foundation (CPS) under Award 1932091, and in part by Nodein Inc.

Additional details

Created:
February 12, 2024
Modified:
February 12, 2024