Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866909002463444992 |
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| author | Biertümpfel, Felix Chun, Jungbae Seiler, Peter |
| author_facet | Biertümpfel, Felix Chun, Jungbae Seiler, Peter |
| contents | This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety constraints and explicitly account for control-dependent nonlinearities at the plant input. Guaranteed bounds on the input-output behavior of these nonlinearities are provided through pointwise-in-time quadratic constraints. The result is a class of robust time-varying control barrier functions that define a safety filter. This filter ensures robust safety for all admissible nonlinearities while minimally modifying the command generated by a baseline controller. We derive a second-order cone program (SOCP) to compute this safety filter online and provide novel feasibility conditions for ball-constrained inputs. The proposed approach is demonstrated on a spacecraft docking maneuver. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_09784 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities Biertümpfel, Felix Chun, Jungbae Seiler, Peter Systems and Control This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety constraints and explicitly account for control-dependent nonlinearities at the plant input. Guaranteed bounds on the input-output behavior of these nonlinearities are provided through pointwise-in-time quadratic constraints. The result is a class of robust time-varying control barrier functions that define a safety filter. This filter ensures robust safety for all admissible nonlinearities while minimally modifying the command generated by a baseline controller. We derive a second-order cone program (SOCP) to compute this safety filter online and provide novel feasibility conditions for ball-constrained inputs. The proposed approach is demonstrated on a spacecraft docking maneuver. |
| title | Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.09784 |