Safety Embedded Control of Nonlinear Systems via Barrier States

In many safety-critical control systems, possibly opposing safety restrictions and performance objectives arise. To confront such a conflict, this letter proposes novel methodology that embeds into stability of systems. The development enforces by means barrier functions used in optimization through the construction states (BaS) which are embedded system's model. As result, as long equilibrium point interest closed loop system is asymptotically stable, generated trajectories guaranteed to be safe. Consequently, conflict between constraints substantially avoided. show efficacy proposed technique, we employ with simple pole placement method design safe linear controls. Nonlinear optimal subsequently employed fulfill safety, solving associated Hamilton-Jacobi-Bellman (HJB) minimizes cost functional can involve BaS. Following further, exploit on an unstable, constrained second dimensional pendulum cart model desired avoid low velocities regions where may exhibit some controllability loss two mobile robots safely arrive opposite targets obstacle way.