A Unified Approach for Safety Critical Control Problem via Output Regulation Theory and Barrier Function

This paper considers the safety critical control problem by a unified approach based on output regulation theory and barrier function. Different from the stabilization with guaranteed safety problem, we consider an arbitrary dynamic reference, which is even allowed to be outside the safe zone. Safety critical control is proposed to mediate the potential conflict between the multiple tasks, i.e., the tracking and the safety property, in the sense that safety is preliminarily guarantee and the tracking control is assured when the the reference signal is within the safe set. A reciprocal Lyapunov barrier function is constructed and the sufficient condition is provided to prove the multi-task control can be achieved.