Convex Synthesis of Control Barrier Functions Under Input Constraints
Convex Synthesis of Control Barrier Functions Under Input Constraints
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DOI：
10.1109/lcsys.2023.3293765
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发表时间：
2023
影响因子：
3
通讯作者：
Pan Zhao;R. Ghabcheloo;Yikun Cheng;Hossein Abdi;N. Hovakimyan
中科院分区：
文献类型：
--
作者：
Pan Zhao;R. Ghabcheloo;Yikun Cheng;Hossein Abdi;N. Hovakimyan
本文提出了一种基于平方和（SOS）优化的非线性多项式系统的控制障碍函数（CBF）综合方法。该方法包括两个设计步骤。在第一步中，使用一个线性的非线性动力学表示，SOS优化问题制定搜索初始CBF和控制器联合。在第二步中，提出了一个迭代优化过程，涉及一系列SOS问题的解决方案，交替更新CBF和控制器，以增加由CBF定义的不变集。数值算例验证了该方法的有效性。
This letter presents a systematic method based on the sum of square (SOS) optimization to synthesize control barrier functions (CBFs) for nonlinear polynomial systems subject to input constraints. The approach consists of two design steps. In the first step, using a linear-like representation of the nonlinear dynamics, an SOS optimization problem is formulated to search for an initial CBF and controller jointly. In the second step, an iterative optimization procedure involving the solution of a series of SOS problems is proposed to alternatively update the CBF and the controller to increase the invariant set defined by the CBF. The efficacy of the proposed approach is validated using numerical examples.