Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints
<|reference_start|>Convex Co-Design of Control Barrier Function and Safe Feedback Controller Under Input Constraints: 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.<|reference_end|>
@article{wang2024convex,
    title={Convex Co-Design of Control Barrier Function and Safe Feedback
  Controller Under Input Constraints},
    author={Han Wang, Kostas Margellos, Antonis Papachristodoulou, Claudio De
  Persis},
    journal={arXiv preprint arXiv:2403.11763},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.11763},
    primaryClass={math.OC cs.SY eess.SY}
}