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This research aims to improve safety-critical control in nonlinear systems facing time-varying constraints.

Suboptimal Safety‐Critical Control of Nonlinear Systems With Time‐Varying Constraints

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This research aims to improve safety-critical control in nonlinear systems facing time-varying constraints.
Developed a suboptimal control framework integrating barrier-state augmentation and state-dependent Riccati equation (SDRE).
Implemented a single-barrier design for stabilization and multibarrier extension for independent tuning of constraints.
Conducted simulations for mobile-robot collision avoidance and quadrotor navigation tasks.
Demonstrated up to 50% faster computation than standard CBF-QP methods.
Ensured strict enforcement of time-varying constraints even in conflict scenarios.
Established asymptotic stability of the closed-loop system under bounded constraint variation rates.

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Randomized trial develops a control framework addressing nonlinear systems' safety constraints, highlighting real-time applicability.

Batmani et al. (2026) studied this question.

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