Convex synthesis of control barrier functions under input constraints

Matlab codes for the paper

P. Zhao, R. Ghabcheloo, Y. Cheng, H. Abdi, and N. Hovakimyan. “Convex Synthesis of Control Barrier Functions Under Input Constraints.” IEEE Control Systems Letters (L-CSS), 2023.

Dependencies

• YALMIP
• Mosek

Usage

• Add the cbf-sos folder to the Matlab path
• Run main.m under each example folder

Reference

If you use the codes, please cite our paper.

@ARTICLE{zhao23convex,
  author={Zhao, Pan and Ghabcheloo, Reza and Cheng, Yikun and Abdi, Hossein and Hovakimyan, Naira},
  journal={IEEE Control Systems Letters}, 
  title={Convex Synthesis of Control Barrier Functions Under Input Constraints}, 
  year={2023},
  volume={7},
  number={},
  pages={3102-3107},
  doi={10.1109/LCSYS.2023.3293765}
  }