Survey Paper on Control Barrier Functions

TL;DR

This survey paper provides a comprehensive overview of Control Barrier Functions (CBFs), including high order and adaptive variants, emphasizing their theoretical foundations, practical applications, and research developments in ensuring safety in dynamic systems.

Contribution

It systematically reviews the principles, extensions, and applications of CBFs, highlighting recent advancements and future research directions.

Findings

CBFs effectively enforce safety constraints in control systems

High Order CBFs extend applicability to complex systems

Adaptive CBFs improve robustness in uncertain environments

Abstract

Control Barrier Functions (CBFs) have emerged as a powerful paradigm in control theory, providing a principled approach to enforcing safety-critical constraints in dynamic systems. This survey paper comprehensively explores the foundational principles of CBFs, delves into the complexities of High Order Control Barrier Functions (HOCBFs), and extends the discussion to the adaptive realm with adaptive Control Barrier Functions (aCBFs). Through a systematic examination of theoretical underpinnings, practical applications, and the evolving landscape of research, this survey highlights the versatility of CBFs in addressing safety and stability challenges.