Port-Transversal Barriers: Graph-Theoretic Safety for Port-Hamiltonian Systems

Chi Ho Leung; Philip E. Paré

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arXiv · 2603.26578

Port-Transversal Barriers: Graph-Theoretic Safety for Port-Hamiltonian Systems

Chi Ho Leung·Philip E. Paré

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Abstract

Synthesizing control barrier functions (CBFs) for complex nonlinear systems remains difficult, particularly when safety constraints have high relative degree with respect to the input. In this work, we study the class of composite port-Hamiltonian systems as a network of interconnected subsystems, and this network admits a natural graph structure. We propose a novel graph-theoretic framework for the CBF synthesis problem. The framework addresses the problem of CBF construction for complex nonlinear systems by offering a relative-degree constraint induced by graph distance and a barrier reshaping rule informed by the graph topology. Furthermore, we perform a feasibility analysis of the reshaped barrier under a bounded input constraint and identify the sufficient conditions for feasibility. Lastly, the proposed framework is validated on an LC ladder network, where the CBF feasibility on a capacitor charge constraint depends on where the input enters the network.

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BibTeX RIS

Chi Ho Leung, Philip E. Paré. 2026-09-12. Port-Transversal Barriers: Graph-Theoretic Safety for Port-Hamiltonian Systems. https://arxiv.org/abs/2603.26578

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