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CEAS EuroGNC 2026

Fault Tolerant Control Barrier Functions
Q.E.J. van Hilten PhD Candidate - Control & Operations, Delft University of Technology, Delft, The Netherlands.
T. Li Postdoctoral Researcher - Control & Operations, Delft University of Technology, Delft, The Netherlands.
C.C. de Visser Associate Professor - Control & Operations, Delft University of Technology, Delft, The Netherlands.
Abstract:
In this article, a novel Control Barrier Function (CBF) named the fault tolerant Control Barrier Function (ftCBF) is introduced. The ftCBF is able to keep a vehicle within a predefined safe set with changing control bounds and changing system dynamics. The ftCBF is shown to be feasible in fault tolerant control applications, as opposed to existing CBF methods. This novel constraint is tested on a double integrator system, and on a non-linear Dubin's Car system with changing system dynamics and changing control bounds. In the simulations it is shown that the ftCBF is able to keep the vehicle in the safe set with failure events occurring at any place in the timeline. The ftCBF contains design parameters that allow a trade-off between safety and performance.
Keywords: Fault Tolerant Control; Control Barrier Functions; Nonlinear Control
 View PDF CEAS-GNC-2026-024 doi: 10.82124/CEAS-GNC-2026-024


Q.E.J. van Hilten, T. Li, C.C. de Visser: Fault Tolerant Control Barrier Functions. Proceedings of the 2026 CEAS EuroGNC conference. Madrid, Spain. May 2026. doi: 10.82124/CEAS-GNC-2026-024.
BibTeX entry (UTF-8):

@Incollection{CEAS-GNC-2026-024,
    author = {van Hilten, Q.E.J. and Li, T. and de Visser, C.C.},
    title = {Fault Tolerant Control Barrier Functions},
    booktitle = {Proceedings of the 2026 {CEAS EuroGNC} conference},
    address = {Madrid, Spain},
    month = may,
    year = {2026},
    doi = {10.82124/CEAS-GNC-2026-024}
}