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| Auteurs principaux: | , |
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| Format: | Preprint |
| Publié: |
2026
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2603.16114 |
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| _version_ | 1866917349648498688 |
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| author | Shahraki, Milad Alipour Lessard, Laurent |
| author_facet | Shahraki, Milad Alipour Lessard, Laurent |
| contents | This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is computed offline by solving the Hamilton--Jacobi--Bellman equation. Online, a quadratic program is solved that minimizes the associated approximate Hamiltonian subject to safety constraints imposed via control barrier functions. Our proposed architecture decouples performance from constraint enforcement, allowing constraints to be modified online without recomputing the value function. Validation on a linear 2-state 1D hovercraft and a nonlinear 9-state spacecraft attitude control problem demonstrates near-optimal performance relative to open-loop optimal control benchmarks and superior performance compared to control Lyapunov function-based controllers. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_16114 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Near-Optimal Constrained Feedback Control of Nonlinear Systems via Approximate HJB and Control Barrier Functions Shahraki, Milad Alipour Lessard, Laurent Systems and Control This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is computed offline by solving the Hamilton--Jacobi--Bellman equation. Online, a quadratic program is solved that minimizes the associated approximate Hamiltonian subject to safety constraints imposed via control barrier functions. Our proposed architecture decouples performance from constraint enforcement, allowing constraints to be modified online without recomputing the value function. Validation on a linear 2-state 1D hovercraft and a nonlinear 9-state spacecraft attitude control problem demonstrates near-optimal performance relative to open-loop optimal control benchmarks and superior performance compared to control Lyapunov function-based controllers. |
| title | Near-Optimal Constrained Feedback Control of Nonlinear Systems via Approximate HJB and Control Barrier Functions |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.16114 |