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

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J. W. H. Chun , Felix Biertümpfel , Peter Seiler ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2511.09784

This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We formulate robust time-varying control barrier functions by combining two ingredients: (i) time-varying control barrier functions which capture the time-varying safety constraints, and (ii) pointwise-in-time quadratic constraints that bound the nonlinearity. These ingredients are used to design a safety filter. This filter ensures safety while minimally altering the command from a given baseline controller. The safety filter is implemented as the solution of a second-order cone program, which can be efficiently computed online. The approach is demonstrated on a simple car obstacle avoidance scenario.

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Type: preprint
Landing Page: http://arxiv.org/abs/2511.09784
PDF: https://arxiv.org/pdf/2511.09784
OA Status: green
OpenAlex ID: https://openalex.org/W4416237635

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OpenAlex ID: https://openalex.org/W4416237635

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DOI: https://doi.org/10.48550/arxiv.2511.09784

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

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Type: preprint

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Publication year: 2025

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Publication date: 2025-11-12

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Authors: J. W. H. Chun, Felix Biertümpfel, Peter Seiler

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Landing page: https://arxiv.org/abs/2511.09784

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PDF URL: https://arxiv.org/pdf/2511.09784

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OA status: green

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OA URL: https://arxiv.org/pdf/2511.09784

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Cited by: 0

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