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October 1, 2025Open Access

Nearly Optimal Nonlinear Safe Control with BaS-SDRE

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Authors

HAHassan AlmubarakMAMaitham F. AL-SunniJDJustin T. Dubbin

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Overview

This approach combines state-dependent riccati equations with barrier states to achieve optimal control, indicating enhanced safety in nonlinear systems.

Key Points

  • The proposed BaS-SDRE technique demonstrates nearly optimal safe control in nonlinear systems, improving system responses in critical conditions.
  • Utilizing hamilton-jacobi-bellman concepts, the control technique effectively addresses safety concerns in complex nonlinear environments.
  • The method was tested on multiple systems, including an unstable linear system and a nonlinear flight control system, showcasing versatile applications.
  • Safety embedded systems are formed by combining state-dependent riccati equations with barrier state methodologies, resulting in robust feedback control.

Cite This Study

Almubarak et al. (2025) studied this question.

synapsesocial.com/papers/68dd91c7fe798ba2fc49847ahttps://doi.org/10.48550/arxiv.2504.15453
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Also Consider

Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context:

  1. 1Suboptimal Safety‐Critical Control of Nonlinear Systems With Time‐Varying Constraints2026
  2. 2The State-Dependent Riccati Equation in Nonlinear Optimal Control: Analysis and Numerical Approximation2026 · 2 citations
  3. 3The State-Dependent Riccati Equation in Nonlinear Optimal Control: Analysis, Error Estimation and Numerical Approximation2025
  4. 4Safety Embedded Adaptive Control Using Barrier States2025
  5. 5Robust stability–guaranteed suboptimal decentralized control of interconnected nonlinear systems with structured parametric uncertainties2026