State Barrier Avoidance Control Design Using a Diffeomorphic Transformation Based Method

This paper presents a novel design method for barrier avoidance control (or state constrained control) in a state space. This is achieved through a diffeomorphic transformation, which projects the constrained region in the original space into a radially large region in the new space. By this transformation, the state constrained control problem is converted into a non-constrained problem, and thus significantly increases the flexibility of the control design options compared with existing state constrained control methods. A case study on sliding mode control under barrier avoidance scheme is given to demonstrate the effectiveness of the proposed method.