Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints

2024/03/18 by Han Wang, Kostas Margellos, Wang, Han +5 · 1 citation
Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Stability and Control of Uncertain Systems #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2403.11763

openalex publication_date 2024/03/18 · openalex created_date 2024/03/20 · openalex updated_date 2026/07/28

Abstract

We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can handle mixed-relative degree problems without requiring an explicit safe controller. Different L-norm based input limitations can be introduced as convex constraints in the proposed program. We demonstrate our results on an omni-directional car numerical example.

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