Robust Control Barrier Functions With Sector-Bounded Uncertainties

This letter focuses on safety-critical control with sector-bounded uncertainties at the plant input. The can represent nonlinear and/or time-varying components. We propose a new robust barrier function (RCBF) approach to enforce safety requirements in presence of these uncertainties. primary objective is minimally alter given baseline command guarantee modeled uncertainty. resulting min-norm optimization problem be recast as Second-Order Cone Program (SOCP) enable online implementation. Properties this controller are studied, and numerical example provided illustrate effectiveness approach.