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arXiv · 2601.00476

Safe Adaptive Feedback Control via Barrier States

Trivikram Satharasi·Tochukwu E. Ogri·Muzaffar Qureshi·Kyle Volle·Rushikesh Kamalapurkar
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Abstract

This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier-state augmentation. The developed ADP-based controller enforces control invariance by optimizing a value function that explicitly penalizes the barrier state, thereby embedding safety directly into the Bellman structure. The near-optimal control policy computed using model-based reinforcement learning is combined with a concurrent learning estimator to identify the unknown parameters and guarantee uniform convergence without requiring persistency of excitation. Using a barrier-state Lyapunov function, we establish boundedness of the barrier dynamics and prove closed-loop stability and safety. Numerical simulations on an optimal obstacle-avoidance problem validate the effectiveness of the developed approach.

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Trivikram Satharasi, Tochukwu E. Ogri, Muzaffar Qureshi, Kyle Volle, Rushikesh Kamalapurkar. 2026-01-01. Safe Adaptive Feedback Control via Barrier States. https://arxiv.org/abs/2601.00476

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