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arXiv · 2510.09810

Designing Control Barrier Functions Using a Dynamic Backup Policy

Victor Freire·Marco M. Nicotra
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Abstract

This paper presents a systematic approach to construct control barrier functions for nonlinear control affine systems subject to arbitrary state and input constraints. Taking inspiration from the reference governor literature, the proposed method defines a family of backup policies, parametrized by the equilibrium manifold of the system. The control barrier function is defined on the augmented state-and-reference space: given a state-reference pair, the approach quantifies the distance to constraint violation at any time in the future. The proposed method is applied to an inverted pendulum on cart.

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Victor Freire, Marco M. Nicotra. 2025-10-10. Designing Control Barrier Functions Using a Dynamic Backup Policy. https://arxiv.org/abs/2510.09810

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