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arXiv · 2403.11763

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

Han Wang·Kostas Margellos·Antonis Papachristodoulou·Claudio De Persis
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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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Han Wang, Kostas Margellos, Antonis Papachristodoulou, Claudio De Persis. 2024-03-18. Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints. https://arxiv.org/abs/2403.11763

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