A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

Understand

We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach.

• Our method allows for applications to a larger class of systems (e.g.
• passivity-based) while still ensuring robustness, for which the construction of conventional ZCBFs is difficult.
• We also propose a locally Lipschitz continuous control law that handles multiple ZCBFs, while respecting input constraints, which is not currently possible with existing ZCBF methods.