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

Abstract

This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety constraints and explicitly account for control-dependent nonlinearities at the plant input. Guaranteed bounds on the input-output behavior of these nonlinearities are provided through pointwise-in-time quadratic constraints. The result is a class of robust time-varying control barrier functions that define a safety filter. This filter ensures robust safety for all admissible nonlinearities while minimally modifying the command generated by a baseline controller. We derive a second-order cone program (SOCP) to compute this safety filter online and provide novel feasibility conditions for ball-constrained inputs. The proposed approach is demonstrated on a spacecraft docking maneuver.