Safe Control of Semi-Explicit Differential-Algebraic Systems: Control Barrier Functions with SOS Verification

Mohamad H. Kazma; Hongchao Zhang; Abdallah A. Albustami; Ben Wooding; Meiyi Ma; Taylor T. Johnson; Ahmad F. Taha

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arXiv · 2610.09634

Safe Control of Semi-Explicit Differential-Algebraic Systems: Control Barrier Functions with SOS Verification

Mohamad H. Kazma·Hongchao Zhang·Abdallah A. Albustami·Ben Wooding·Meiyi Ma·Taylor T. Johnson·Ahmad F. Taha

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Abstract

Differential-algebraic equation (DAE) systems arise in power networks, multibody mechanics, and chemical processes, where algebraic constraints couple dynamic and algebraic states. Standard control barrier function (CBF) methods, designed for ordinary differential equations, fail for DAE systems because the algebraic constraints impose compatibility requirements that may render safety filters infeasible. This paper develops a safety-critical control framework for semi-explicit DAE systems using CBFs that consider compatibility with the algebraic constraints, termed DAE-aware CBFs. We construct projected vector fields on the constraint manifold to account for the hidden dynamics, while ensuring compatibility conditions that keep the algebraic constraints satisfied. We then present sum of squares (SOS) verification conditions that certify both correctness and feasibility of the resulting DAE-aware CBF. The framework is validated on power system case studies.

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Mohamad H. Kazma, Hongchao Zhang, Abdallah A. Albustami, Ben Wooding, Meiyi Ma, Taylor T. Johnson, Ahmad F. Taha. 2026-10-07. Safe Control of Semi-Explicit Differential-Algebraic Systems: Control Barrier Functions with SOS Verification. https://arxiv.org/abs/2610.09634

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