Piecewise Control Barrier Functions for Stochastic Systems

2025/07/23 by Mazouz, Rayan, Laurenti, Luca, Lahijanian, Morteza · 1 citation
#FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · doi:10.48550/arxiv.2507.17703

Abstract

This paper presents a method for the simultaneous synthesis of a barrier certificate and a safe controller for discrete-time nonlinear stochastic systems. Our approach, based on piecewise stochastic control barrier functions, reduces the synthesis problem to a minimax optimization, which we solve exactly using a dual linear program with zero gap. This enables the joint optimization of the barrier certificate and safe controller within a single formulation. The method accommodates stochastic dynamics with additive noise and a bounded continuous control set. The synthesized controllers and barrier certificates provide a formally guaranteed lower bound on probabilistic safety. Case studies on linear and nonlinear stochastic systems validate the effectiveness of our approach.

Citations

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• Выпуклая оптимизация

Cited by

• Probabilistic Safety under Arbitrary Disturbance Distributions using Piecewise-Affine Control Barrier Functions

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