• Corpus ID: 240419906

Safe PDE Backstepping QP Control with High Relative Degree CBFs: Stefan Model with Actuator Dynamics

@article{Koga2021SafePB,
  title={Safe PDE Backstepping QP Control with High Relative Degree CBFs: Stefan Model with Actuator Dynamics},
  author={Shumon Koga and Miroslav Krsti{\'c}},
  journal={ArXiv},
  year={2021},
  volume={abs/2111.01187}
}
High-relative-degree control barrier functions (hirel-deg CBFs) play a prominent role in automotive safety and in robotics. In this paper we launch a generalization of this concept for PDE control, treating a specific, physically-relevant model of thermal dynamics where the boundary of the PDE moves due to a liquid-solid phase change—the so-called Stefan model. The familiar QP design is employed to ensure safety but with CBFs that are infinite-dimensional (including one control barrier… 
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Safe Backstepping with Control Barrier Functions
—Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs)

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