Abstract
Discrete-time Control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper, we provide an optimization-based algorithm, inspired by the $\alpha$BB algorithm, for the verification of a candidate DTCBF, i.e., either verifying a given candidate function as a valid DTCBF or falsifying it by providing a counterexample for a general nonlinear discrete-time system with input constraints. This method is applicable whether a corresponding control policy is known or unknown. We apply our method to a numerical case study to illustrate its efficacy.
| Original language | English |
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| Title of host publication | 2024 IEEE 63rd Conference on Decision and Control, CDC 2024 |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 3632-3637 |
| Number of pages | 6 |
| ISBN (Electronic) | 979-8-3503-1633-9 |
| DOIs | |
| Publication status | Published - 26 Feb 2025 |
| Event | 63rd IEEE Annual Conference on Decision and Control, CDC 2024 - Milan, Italy Duration: 16 Dec 2024 → 19 Dec 2024 |
Conference
| Conference | 63rd IEEE Annual Conference on Decision and Control, CDC 2024 |
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| Country/Territory | Italy |
| City | Milan |
| Period | 16/12/24 → 19/12/24 |
Keywords
- Control Barrier Functions
- Safety guarantees
- Constrained control
- Set invariance