A framework reformulates safety-constrained infinite-horizon optimal control as an unconstrained problem on an extended state space using barrier-Lyapunov functions, auxiliary variables, adaptive excitation, and online critic learning for disturbed high-relative-degree systems.
Adaptive con- trol barrier functions,
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Synthesizing Safety in Infinite-Horizon Optimal Control for Disturbed High-Relative-Degree Systems via Barrier-Regulating Auxiliary Variables
A framework reformulates safety-constrained infinite-horizon optimal control as an unconstrained problem on an extended state space using barrier-Lyapunov functions, auxiliary variables, adaptive excitation, and online critic learning for disturbed high-relative-degree systems.