Safe Controlled Invariance for Linear Systems Using Sum-of-Squares Programming

Abstract

Safety is closely related to set invariance for dynamical systems. However, synthesizing a safe invariant set and at the same time synthesizing the associated safe controller still remains challenging. In this note we introduce a simple invariance-based method for linear systems with safety guarantee. The proposed method uses sum-of-squares programming.

submitted to POEMA as an extended abstract

References in corpus (1)

• Finding positively invariant sets and proving exponential stability of limit cycles using Sum-of-Squares decompositions

Cited by in corpus (1)

• Counterexample-Guided Synthesis of Robust Discrete-Time Control Barrier Functions