Safe Output-Feedback Adaptive Optimal Control of Input-Constrained Control-Affine Nonlinear Systems (opens in new tab)

In this paper, a novel online, safe output-feedback, critic-only, adaptive optimal control framework is developed for safety-critical control of partially observable systems. The developed framework ensures system stability and safety, regardless of the lack of full-state measurements, while learning and implementing a near-optimal controller. The approach leverages linear matrix inequality-based observer design methods to efficiently search...