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:: Accepted

Peer review status:: Peer reviewed

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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.

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, IEEE, 2025.

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.
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Files:: Wang_et_al_2025_Convex_co-design_of.pdf

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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
Acceptance date:: 2025-11-03
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

Terms of use

Rights statement:: This article is protected by copyright. All rights reserved.
Notes:: This article has been accepted for publication in IEEE Transactions on Automatic Control. This is the accepted manuscript version of the article.

Licence:: Terms and Conditions of Use for Oxford University Research Archive

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