Safe Control Synthesis via Input Constrained Control Barrier Functions

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for nonlinear control-affine systems with input constraints. The method identifies a subset of the safe set of states, and constructs a controller to render the subset forward invariant. The feedback controller is represented as the solution to a quadratic program, which can be solved efficiently for real-time implementation. Furthermore, we show that ICCBFs are a generalization of Higher Order Control Barrier Functions, and thus are applicable to systems of nonuniform relative degree. Simulation results are presented for the adaptive cruise control problem, and a spacecraft rendezvous problem.