Constricting Tubes for Prescribed-Time Safe Control
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , |
|---|---|
| Format: | Preprint |
| Publié: |
2026
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866914404431298560 |
|---|---|
| author | Gadginmath, Darshan Allibhoy, Ahmed Pasqualetti, Fabio |
| author_facet | Gadginmath, Darshan Allibhoy, Ahmed Pasqualetti, Fabio |
| contents | We propose a constricting Control Barrier Function (CBF) framework for prescribed-time control of control-affine systems with input constraints. Given a system starting outside a target safe set, we construct a time-varying safety tube that shrinks from a relaxed set containing the initial condition to the target set at a user-specified deadline. Any controller rendering this tube forward invariant guarantees prescribed-time recovery by construction. The constriction schedule is bounded and tunable by design, in contrast to prescribed-time methods where control effort diverges near the deadline. Feasibility under input constraints reduces to a single verifiable condition on the constriction rate, yielding a closed-form minimum recovery time as a function of control authority and initial violation. The framework imposes a single affine constraint per timestep regardless of state dimension, scaling to settings where grid-based reachability methods are intractable. We validate on a 16-dimensional multi-agent system and a unicycle reach-avoid problem, demonstrating prescribed-time recovery with bounded control effort. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_17003 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Constricting Tubes for Prescribed-Time Safe Control Gadginmath, Darshan Allibhoy, Ahmed Pasqualetti, Fabio Optimization and Control Systems and Control We propose a constricting Control Barrier Function (CBF) framework for prescribed-time control of control-affine systems with input constraints. Given a system starting outside a target safe set, we construct a time-varying safety tube that shrinks from a relaxed set containing the initial condition to the target set at a user-specified deadline. Any controller rendering this tube forward invariant guarantees prescribed-time recovery by construction. The constriction schedule is bounded and tunable by design, in contrast to prescribed-time methods where control effort diverges near the deadline. Feasibility under input constraints reduces to a single verifiable condition on the constriction rate, yielding a closed-form minimum recovery time as a function of control authority and initial violation. The framework imposes a single affine constraint per timestep regardless of state dimension, scaling to settings where grid-based reachability methods are intractable. We validate on a 16-dimensional multi-agent system and a unicycle reach-avoid problem, demonstrating prescribed-time recovery with bounded control effort. |
| title | Constricting Tubes for Prescribed-Time Safe Control |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2603.17003 |