A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems

We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications to a larger class of systems (e.g. passivity-based) while still ensuring robustness, for which the construction of conventional ZCBFs is difficult. We also propose a locally Lipschitz continuous control law that handles multiple ZCBFs, while respecting input constraints, which is not currently possible with existing ZCBF methods. We apply the proposed concept for unicycle navigation in an obstacle-rich environment.

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