2022/11/23 by Masoumeh Ghanbarpour, Axton Isaly, Ghanbarpour, Masoumeh +5
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #FOS: Mathematics #Formal Methods in Verification #Fuel Cells and Related Materials #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2211.12691
openalex publication_date 2022/11/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs. Through the use of nonsmooth analysis tools, we show that a continuous optimal control law can be selected from a set-valued constraint capturing the system constraints and conditions guaranteeing safety using control barrier functions. Our results guarantee optimality and safety via a continuous state-feedback law designed using nonsmooth control barrier functions. An example pertaining to obstacle avoidance with a target illustrates our results and the associated benefits of using nonsmooth control barrier functions.