The increasing complexity of control systems necessitates control laws that guarantee safety w.r.t. complex combinations of constraints. In this letter, we propose a framework to describe compositional safety specifications with control barrier functions (CBFs). The specifications are formulated as Boolean compositions of state constraints, and we propose an algorithmic way to create a single continuously differentiable CBF that captures these constraints and enables safety-critical control. We describe the properties of the proposed CBF, and we demonstrate its efficacy by numerical simulations.

翻译：随着控制系统日益复杂，需要能够保证满足复杂约束组合的控制律。本文提出一个框架，利用控制障碍函数（CBFs）描述组合安全规范。我们将规范表述为状态约束的布尔组合，并提出一种算法，用于生成单一连续可微的CBF，该函数能够捕获这些约束并实现安全关键控制。我们给出了所提CBF的性质，并通过数值仿真验证了其有效性。