Constrained Feedback Control of Nonlinear Systems via Approximate HJB and Control Barrier Functions

arXiv:2603.16114 · eess.SY, cs.SY · Submitted 2026-03-17 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-03-17

Updated: 2026-09-18

Code: https://github.com/QCGroup/ghjbcbf

Terminology

• Lyapunov function — 5× in this paper · explained in 2 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Two-Stage Framework — 3× in this paper · explained in 2 episodes
• Decoupling — 2× in this paper · explained in 2 episodes
• Optimal Control Problem — 2× in this paper
• Successive Galerkin Approximation — 2× in this paper
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Convergence Guarantees — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes

Sources

• Concave Comparison Functions for Accelerating Constrained Lyapunov Decay

Related papers

• One Request, Multiple Experts: LLM Orchestrates Domain Specific Models via Adaptive Task Routing
• A Geometric Decision Procedure for STL Feasibility and Repair
• Submodular Multi-Agent Policy Learning for Online Distributed Task Allocation in Open Multi-Agent Systems
• Policy-Level Recursive Self-Improvement for Embodied AI with a Criticality World Model
• Minimal Experiments for Robust Stabilization: Information, Spectral Geometry, and Duration
• Decentralized Power-Optimal Coordination for Spacecraft Swarms Using Time-Varying Magnetorquer Actuation