A discrete-time control barrier function and a polynomial control policy are synthesized jointly for polynomial systems via an iterative sum-of-squares program that bypasses the bilinear terms blocking earlier approaches.
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Synthesis of Discrete-time Control Barrier Functions for Polynomial Systems Based on Sum-of-Squares Programming
A discrete-time control barrier function and a polynomial control policy are synthesized jointly for polynomial systems via an iterative sum-of-squares program that bypasses the bilinear terms blocking earlier approaches.