State barrier avoidance control for complex barriers using a diffeomorphic transformation-based method
Abstract
State-constrained control is a pivotal topic in nonlinear control systems, aimed at preventing state violations of constraints or barriers. Previous research on state-constrained control has faced limitations in computational efficiency, system types, and constraint shapes. Most existing works only address barriers or constraints with simple shapes, making it challenging to extend to complex state constraints under current frameworks. In this paper, we present a novel barrier avoidance control method that systematically addresses complex barrier shapes using a diffeomorphic transformation. Case studies are presented to demonstrate the flexibility and effectiveness of this approach.
Fields of Study & Subjects
Advanced Control Systems Optimization
Adaptive Control of Nonlinear Systems
Control and Stability of Dynamical Systems
Publication details
- Journal / source
- International Journal of Control
- Volume
- 99
- Issue
- 6
- Pages
- 1798–1810
- Publication date
- 27 January 2026
- Language
- EN