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

Autor:	Wang, Han, Margellos, Kostas, Papachristodoulou, Antonis, De Persis, Claudio
Rok vydání:	2024
Předmět:	Mathematics - Optimization and Control Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	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. Comment: manuscript submitted to TAC
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2403.11763 Zobrazit plný text záznamu View this record from Arxiv