Safety-Critical Control for Control Affine Systems under Spatio-Temporal and Input Constraints

Safety-critical control is a type of modern task where potentially conflicting stability, safety, and input constraints coexist. In this paper, the Prescribed-Time Zeroing Control Barrier Function (PT-ZCBF) introduced, which can be applied as prescribed-time stability constraint in safety-critical tasks. Furthermore, we formulate PT-ZCBF-based Quadratic Program (QP), able to mediate control. The solution newly designed QP, acting system, drive closed-loop trajectories converge user-defined prescribed time period while observing safety constraints. Finally, use Adaptive Cruise (ACC) problem an example numerical simulation evaluate performance QP-based method.