Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.
Predictive control barrier functions: Bridging model predictive control and control barrier functions
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Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities
Robust time-varying control barrier functions are derived that guarantee safety for all sector-bounded input nonlinearities via pointwise quadratic constraints and an SOCP safety filter, demonstrated on spacecraft docking.