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• W4225672205 abstract "This letter proposes an optimization with penalty-based feedback design framework for safe stabilization of control affine systems. Our starting point is the availability of a control Lyapunov function (CLF) and a control barrier function (CBF) defining affine-in-the-input inequalities that certify, respectively, the stability and safety objectives for the dynamics. Leveraging ideas from penalty methods for constrained optimization, the proposed design framework imposes one of the inequalities as a hard constraint and the other one as a soft constraint. We study the properties of the closed-loop system under the resulting feedback controller and identify conditions on the penalty parameter to eliminate undesired equilibria that might arise. Going beyond the local stability guarantees available in the literature, we are able to provide an inner approximation of the region of attraction of the equilibrium, and identify conditions under which the whole safe set belongs to it. Simulations illustrate our results." @default.
• W4225672205 created "2022-05-05" @default.
• W4225672205 creator A5027913099 @default.
• W4225672205 creator A5071034766 @default.
• W4225672205 date "2023-01-01" @default.
• W4225672205 modified "2023-09-26" @default.
• W4225672205 title "Optimization-Based Safe Stabilizing Feedback With Guaranteed Region of Attraction" @default.
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• W4225672205 doi "https://doi.org/10.1109/lcsys.2022.3188934" @default.
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