Control Barrier Functions for Cyber-Physical Systems and Applications to NMPC

Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible an online fashion. This letter presents two tractable to ensure forward invariance of discrete-time controlled systems. Both approaches provide strict mathematical safety guarantees. The first algorithm exploits Lipschitz continuity and formulates the condition as a robust program subsequently relaxed set affine conditions. second inspired by tube-NMPC uses Function formulation conjunction with auxiliary controller guarantee system. We combine approximate NMPC despite approximated constraints show its effectiveness experimentally mini-Segway.