Parameterized Barrier Functions to Guarantee Safety under Uncertainty

Deploying safety-critical controllers in practice necessitates the ability to modulate uncertainties control systems. In this context, robust barrier functions—in a variety of forms—have been used obtain safety guarantees for uncertain Yet differing types uncertainty experienced have resulted fractured landscape robustification—with instantiations depending on structure uncertainty. This paper proposes framework generalizing these variations into single form: parameterized functions (PBFs), which yield wide spectrum types. leads that enforce while their conservativeness scales by parameterization. To illustrate generality approach, we show input-to-state (ISSf) is special case PBF framework, whereby improved can be given relative ISSf.