@ARTICLE{9655322,
  author={Agrawal, Devansh R. and Parwana, Hardik and Cosner, Ryan K. and Rosolia, Ugo and Ames, Aaron D. and Panagou, Dimitra},
  journal={IEEE Control Systems Letters},
  title={A Constructive Method for Designing Safe Multirate Controllers for Differentially-Flat Systems},
  year={2022},
  volume={6},
  number={},
  pages={2138-2143},
  doi={10.1109/LCSYS.2021.3136465}
}

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.