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arXiv · 2511.09784

Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities

Felix Biertümpfel·Jungbae Chun·Peter Seiler
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Abstract

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.

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Felix Biertümpfel, Jungbae Chun, Peter Seiler. 2025-11-12. Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities. https://arxiv.org/abs/2511.09784

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