Constrained Optimal Control for Nonlinear Multi-Input Safety-Critical Systems with Time-Varying Safety Constraints

Constrained Optimal Control for Nonlinear Multi-Input Safety-Critical Systems with Time-Varying Safety Constraints

In this paper, we investigate the constrained optimal control problem of nonlinear multi-input safety-critical systems with uncertain disturbances and time-varying safety constraints. By utilizing a barrier function transformation, together with a new disturbance-related term and a smooth safety bou...

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Bibliographic Details
Main Authors: Jinguang Wang, Chunbin Qin, Xiaopeng Qiao, Dehua Zhang, Zhongwei Zhang, Ziyang Shang, Heyang Zhu
Format: Article
Language:English
Published: MDPI AG 2022-08-01
Series:Mathematics
Subjects:
barrier function
time-varying safety constraints
adaptive dynamic programming
multi-input system
Online Access:https://www.mdpi.com/2227-7390/10/15/2744

Internet

https://www.mdpi.com/2227-7390/10/15/2744

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