Using Dynamic Safety Margins as Control Barrier Functions

• 成果类型: Article
• 署名作者: Freire, Victor; Nicotra, Marco M.
• 署名单位: University of Colorado System; University of Colorado Boulder
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3686634
• 发表日期: 2026
• 关键词: EXPLICIT REFERENCE GOVERNOR; Constrained control; systems

摘要

This article presents an approach to design control barrier functions (CBFs) for arbitrary state and input constraints using tools from the reference governor literature. In particular, it is shown that dynamic safety margins (DSMs) are CBFs for an augmented system obtained by concatenating the state with a virtual reference. The proposed approach is agnostic to the relative degree and can handle multiple state and input constraints using the control-sharing property of CBFs. The construction of CBFs using Lyapunov-based DSMs is then investigated in further detail. Numerical simulations show that the method outperforms existing DSM-based approaches, while also guaranteeing safety and persistent feasibility of the associated optimization program.