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We present a new closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main result is obtained through the combination of several new ideas. First, we present a method for constructing a single CBF from multiple CBFs, which can have different relative degrees. The construction relies on a log-sum-exponential soft-minimum function and yields a CBF whose zero-superlevel set is a subset of the intersection of the zero-superlevel sets of all the CBFs used in the composition. Next, we use the composite soft-minimum CBF to construct a closed-form control that is optimal with respect to a quadratic cost subject to the safety constraints. Finally, we extend the approach and develop a closed-form optimal control that not only guarantees safety but also respects input constraints. The key elements in developing this novel closed-form control include: the introduction of the control dynamics, which allow the input constraints to be transformed into constraints on the state of the closed-loop system, and the use of the composite soft-minimum CBF to compose multiple safety and input CBFs, which have different relative degrees, into a single CBF. We also demonstrate these new control approaches on a nonholonomic ground robot example.
Rabiee et al. (Sat,) studied this question.