Two-Constraint Robust ICBF Compatibility

Background: The feasibility of enforcing multiple safety constraints simultaneously using Control Barrier Functions (CBFs) or Integral Control Barrier Functions (ICBFs) is not always guaranteed, as the resulting quadratic program (QP) may have no solution.

Question / Future Work: Verifying or ensuring the compatibility of two or more robust Integral Control Barrier Functions (ICBFs) when applying the resulting QP for control synthesis, especially concerning the non-trivial condition (34c) related to anti-parallel normal vectors. This includes explicitly enforcing compatibility through the design of the integral controller $\phi$.