Convex Synthesis and Verification of Control-Lyapunov and Barrier Functions with Input Constraints.
2023 AMERICAN CONTROL CONFERENCE, ACC（2023）
Key words
2D toy system,CBF synthesis technique,CLF synthesis technique,control barrier functions,control Lyapunov functions,control-Lyapunov verification,controller synthesis,convex optimization,expensive performance estimation,input constraints,nominal controller,online optimization,pendulum,performance estimation,polynomial CBFs,polynomial CLFs,quadrotor,rigorous performance guarantees,safety constraints,stabilizing control actions,sum-of-squares conditions,synthesis task,unsafe regions
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