• Corpus ID: 240419906

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

  title={Safe PDE Backstepping QP Control with High Relative Degree CBFs: Stefan Model with Actuator Dynamics},
  author={Shumon Koga and Miroslav Krsti{\'c}},
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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