# Safety Critical Control for Nonlinear Systems with Complex Input Constraints

arXiv: https://arxiv.org/abs/2408.09534 · HTML: https://mlsanity.com/paper/2408.09534/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Aug 2024.

## Built on by (most cited first, 1 of 1)

- [TRUST-UP: Trustworthy Reinforcement learning Using Safe Techniques for UAV Pursuit](https://mlsanity.com/paper/2411.17552/) (2024)

## Abstract (arXiv)

In this paper, we propose a novel Control Barrier Function (CBF) based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the original system into an augmented one, thus reformulating the constrained-input problem into a constrained-output one. This transformation simplifies the Quadratic Programming (QP) formulation and enhances compatibility with the CBF framework. As a result, the proposed method can systematically address the complex, time-varying, and state-dependent input constraints. The efficacy of the proposed approach is validated using numerical examples.