Matrix Control Barrier Functions
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866912558569488384 |
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| author | Ong, Pio Xu, Yicheng Bena, Ryan M. Jabbari, Faryar Ames, Aaron D. |
| author_facet | Ong, Pio Xu, Yicheng Bena, Ryan M. Jabbari, Faryar Ames, Aaron D. |
| contents | This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and indefinite. Matrix inequalities can be used to describe a richer class of safe sets, including nonsmooth ones. The safety filters constructed from our proposed matrix control barrier functions via semidefinite programming (CBF-SDP) are shown to be continuous. Our matrix formulation naturally provides a continuous safety filter for Boolean-based control barrier functions, notably for disjunctions (OR), without relaxing the safe set. We illustrate the effectiveness of the proposed framework with applications in drone network connectivity maintenance and nonsmooth obstacle avoidance, both in simulations and hardware experiments. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_11795 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Matrix Control Barrier Functions Ong, Pio Xu, Yicheng Bena, Ryan M. Jabbari, Faryar Ames, Aaron D. Systems and Control Optimization and Control This paper generalizes the control barrier function framework by replacing scalar-valued functions with matrix-valued ones. Specifically, we develop barrier conditions for safe sets defined by matrix inequalities -- both semidefinite and indefinite. Matrix inequalities can be used to describe a richer class of safe sets, including nonsmooth ones. The safety filters constructed from our proposed matrix control barrier functions via semidefinite programming (CBF-SDP) are shown to be continuous. Our matrix formulation naturally provides a continuous safety filter for Boolean-based control barrier functions, notably for disjunctions (OR), without relaxing the safe set. We illustrate the effectiveness of the proposed framework with applications in drone network connectivity maintenance and nonsmooth obstacle avoidance, both in simulations and hardware experiments. |
| title | Matrix Control Barrier Functions |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2508.11795 |