Continuous Redesign of Discontinuous Optimal Control Based on Safety-critical Control

In recent years, safety-critical control has attracted much attention because it provides safety for the target system and a new perspective for designing a controller according to a control objective. This paper considers a safety-critical control technique to obtain a simple procedure for redesigning discontinuous control. First, we revisit an optimal control problem for a quadratic-formed performance function without input costs and propose a procedure for remaking a discontinuous optimal controller into a continuous quasi-optimal controller via the technique of safety-critical control. Then, we also try deriving a simple control design procedure for a chained system via the concept of safety-critical control. Finally, the validity is confirmed by numerical simulation. Copyright (c) 2023 The Authors.