Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910370884485120 |
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| author | Wang, Han Margellos, Kostas Papachristodoulou, Antonis De Persis, Claudio |
| author_facet | Wang, Han Margellos, Kostas Papachristodoulou, Antonis De Persis, Claudio |
| contents | 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. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2403_11763 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints Wang, Han Margellos, Kostas Papachristodoulou, Antonis De Persis, Claudio Optimization and Control Systems and Control 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. |
| title | Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2403.11763 |