Backup Control Barrier Function Synthesis using Sum-of-Squares Reachability

Abstract

Backup control barrier functions (bCBFs) enforce safety for input-constrained nonlinear systems using a pre-certified backup set and controller, but their performance depends strongly on this prescribed pair. This letter develops a constructive method for synthesizing a less conservative backup pair via finite horizon sum-of-squares (SOS) backward reachability. Starting from an initial backup set, we compute an SOS-certified finite horizon backward reachable set and controller that satisfy safety and input constraints while steering trajectories to the original backup set. We then provide conditions under which this certified set becomes a valid backup set for a piecewise backup controller. The resulting backup pair is integrated into the bCBF framework to certify larger safe sets.