Convex Synthesis of Control Barrier Functions Under Input Constraints

نویسندگان

چکیده

This paper presents a systematic method based on the sum of square (SOS) optimization to synthesize control barrier functions (CBFs) for nonlinear polynomial systems subject input constraints. The approach consists two design steps. In first step, using linear-like representation dynamics, an SOS problem is formulated search initial CBF and controller jointly. second iterative procedure involving solution series problems proposed alternatively update increase invariant set defined by CBF. efficacy validated numerical examples.

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ژورنال

عنوان ژورنال: IEEE Control Systems Letters

سال: 2023

ISSN: ['2475-1456']

DOI: https://doi.org/10.1109/lcsys.2023.3293765