Verification and Synthesis of Compatible Control Lyapunov and Control
Barrier Functions
Verification and Synthesis of Compatible Control Lyapunov and Control
Barrier Functions
Safety and stability are essential properties of control systems. Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) have been proposed to ensure safety and stability respectively. However, previous approaches typically verify and synthesize the CBFs and CLFs separately, satisfying their respective constraints, without proving that the CBFs and CLFs …