Journal article

Convex co-design of control barrier functions and state feedback controllers for linear systems with input constraints

Abstract:: 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.

Publication status:: Published

Peer review status:: Peer reviewed

Actions

Email

Email this record

Send the bibliographic details of this record to your email address.

Your Email
Please enter the email address that the record information will be sent to.

-
Your message (optional)
Please add any additional information to be included within the email.
Share
Cite

Cite this record

APA Style

Wang, H., Margellos, K., Papachristodoulou, A., & De Persis, C. (2025). Convex co-design of control barrier functions and state feedback controllers for linear systems with input constraints. IEEE Transactions on Automatic Control, 71(4), 2770–2777.

MLA Style

Wang, H, et al. “Convex Co-Design of Control Barrier Functions and State Feedback Controllers for Linear Systems with Input Constraints.” IEEE Transactions on Automatic Control, vol. 71, no. 4, 2025, pp. 2770–77.

Chicago Style

Wang, H, K Margellos, A Papachristodoulou, and C De Persis. 2025. “Convex Co-Design of Control Barrier Functions and State Feedback Controllers for Linear Systems with Input Constraints.” IEEE Transactions on Automatic Control 71 (4): 2770–77.
Print

Access Document

Files:: Wang_et_al_2025_Convex_co-design_of.pdf

(Preview, Accepted manuscript, pdf, 2.3MB, Terms of use)

Publisher copy:: 10.1109/tac.2025.3638061

Authors

+ Wang, H More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Role:: Author

+ Margellos, K More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Role:: Author
ORCID:: 0000-0001-8865-8568

+ Papachristodoulou, A More by this author

Institution:: University of Oxford
Division:: MPLS
Department:: Engineering Science
Role:: Author

+ De Persis, C More by this author

Role:: Author

Publisher:: IEEE
Journal:: IEEE Transactions on Automatic Control More from this journal
Volume:: 71
Issue:: 4
Pages:: 2770-2777
Publication date:: 2025-11-27
Acceptance date:: 2025-11-03
DOI:: 10.1109/tac.2025.3638061
EISSN:: 1558-2523
ISSN:: 0018-9286

Language:: English
Keywords:: safety

control barrier functions

sum-ofsquares programming

semi-definite programming
Pubs id:: 2307692
Local pid:: pubs:2307692
Deposit date:: 2025-11-03
ARK identifier:: ark:/29072/ora_14fb94e3ab814f7386c9526ee94d23ac

Terms of use

Copyright holder:: IEEE
Copyright date:: 2025
Rights statement:: Copyright © 2025, IEEE
Notes:: The author accepted manuscript (AAM) of this paper has been made available under the University of Oxford's Open Access Publications Policy, and a CC BY public copyright licence has been applied.

Licence:: CC Attribution (CC BY)

Views and Downloads

About views and downloads

If you are the owner of this record, you can report an update to it here: Report update to this record

TO TOP