Deterministic Non-Smooth Safety via Dual-Algebraic Control Barrier Functions

摘要

This paper presents a dual-algebraic framework for control barrier functions (CBFs) that guarantees deterministic execution using exclusively elementary arithmetic. We develop this deterministic approach to solve a fundamental bottleneck in safety-critical control: pointwise minima naturally compose intersecting safe sets, but generate non-smooth boundaries where standard Lie derivatives fail. Existing mathematical workarounds inject approximation bias, probabilistic non-determinism, or combinatorial execution delays that strictly impede hard real-time hardware certification. By embedding the system state and vector field into the dual-number ring, our method extracts both the composite barrier value and its exact directional derivative in a single evaluation. The standard floating-point minimum deterministically isolates a single vertex of the Clarke generalized gradient for the quadratic-program solver. We prove this selected vertex constitutes a valid Clarke subgradient and the resulting simultaneous-enforcement safety filter guarantees forward invariance. The arithmetic overhead remains a fixed constant factor, strictly independent of state dimension or constraint count. We extend this framework to arbitrary $\min$/$\max$ Boolean compositions and systems of higher relative degree, validating the computational scaling on three physical examples.