Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints
Optimization and Control
2024-03-19 v1 Systems and Control
Systems and Control
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.
Cite
@article{arxiv.2403.11763,
title = {Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints},
author = {Han Wang and Kostas Margellos and Antonis Papachristodoulou and Claudio De Persis},
journal= {arXiv preprint arXiv:2403.11763},
year = {2024}
}
Comments
manuscript submitted to TAC