@INPROCEEDINGS{9682938,
  author={Agrawal, Devansh R. and Panagou, Dimitra},
  booktitle={2021 60th IEEE Conference on Decision and Control (CDC)},
  title={Safe Control Synthesis via Input Constrained Control Barrier Functions},
  year={2021},
  volume={},
  number={},
  pages={6113-6118},
  doi={10.1109/CDC45484.2021.9682938}
}

This paper introduces the notion of an Input Constrained Control Barrier Function (ICCBF), as a method to synthesize safety-critical controllers for nonlinear control-affine systems with input constraints. The method identifies a subset of the safe set of states, and constructs a controller to render the subset forward invariant. The feedback controller is represented as the solution to a quadratic program, which can be solved efficiently for real-time implementation. Furthermore, we show that ICCBFs are a generalization of Higher Order Control Barrier Functions, and thus are applicable to systems of non- uniform relative degree. Simulation results are presented for the adaptive cruise control problem, and a spacecraft rendezvous problem.