Seonglae ChoFor dynamics $\dot z = F(z) + G(z)u$, a control barrier function (CBF) enforces forward invariance of the safe set by choosing the control input such that, approximately,
is satisfied.
Here, $z$ is the system state, $F, G$ define the dynamics, $u$ is the control input, $h$ is the safety function, and $\alpha$ is a class- relaxation function. This definition follows the CBF-QP paper by Ames et al.
Control Barrier Functions
Control Barrier Function Based Quadratic Programs for Safety...
Safety critical systems involve the tight coupling between potentially conflicting control objectives and safety constraints. As a means of creating a formal framework for controlling systems of...
https://arxiv.org/abs/1609.06408
