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arXiv · 2412.03708

Rectified Control Barrier Functions for High-Order Safety Constraints

Pio Ong·Max H. Cohen·Tamas G. Molnar·Aaron D. Ames
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Abstract

This paper presents a novel approach for synthesizing control barrier functions (CBFs) from high relative degree safety constraints: Rectified CBFs (ReCBFs). We begin by discussing the limitations of existing High-Order CBF approaches and how these can be overcome by incorporating an activation function into the CBF construction. We then provide a comparative analysis of our approach with related methods, such as CBF backstepping. Our results are presented first for safety constraints with relative degree two, then for mixed-input relative degree constraints, and finally for higher relative degrees. The theoretical developments are illustrated through simple running examples and an aircraft control problem.

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Pio Ong, Max H. Cohen, Tamas G. Molnar, Aaron D. Ames. 2024-12-04. Rectified Control Barrier Functions for High-Order Safety Constraints. https://doi.org/10.1109/lcsys.2024.3518393

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