Inverse Optimal Control with Set-Theoretic Barrier Lyapunov Function for Handling State Constraints

Although rigorous framework exists for handling state variable inequality constraints under optimal control formulations, it is quite involved and difficult to incorporate for online use. In this study, an alternative approach is proposed by combining a state-dependent Riccati equation (SDRE) based inverse optimal control formulation with a set-theoretic barrier Lyapunov function (STBLF). Necessary derivations are presented. Both regulator and tracking type problems are considered. The performance of the proposed method is evaluated using numerical examples.