Soft-Minimum Barrier Functions for Safety-Critical Control Subject to Actuation Constraints

Pedram Rabiee, Jesse B. Hoagg

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including linear and quadratic programs subject to affine constraints, which are shown to be feasible. The control method relies on a new soft-minimum barrier function that is constructed using a finite-time-horizon prediction of the system trajectories under a known backup control. The main result shows that: (i) the control is continuous and satisfies the actuator constraints, and (ii) a subset of the safe set is forward invariant under the control. We also demonstrate this control on numerical simulations of an inverted pendulum and a double-integrator ground robot.

Original languageEnglish
Title of host publication2023 American Control Conference, ACC 2023
Number of pages6
ISBN (Electronic)9798350328066
StatePublished - 2023
Event2023 American Control Conference, ACC 2023 - San Diego, United States
Duration: May 31 2023Jun 2 2023

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2023 American Control Conference, ACC 2023
Country/TerritoryUnited States
CitySan Diego

Bibliographical note

Publisher Copyright:
© 2023 American Automatic Control Council.

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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