{"id":"https://openalex.org/W4385973814","doi":"https://doi.org/10.1109/tac.2023.3306492","title":"Control-Barrier-Function-Based Design of Gradient Flows for Constrained Nonlinear Programming","display_name":"Control-Barrier-Function-Based Design of Gradient Flows for Constrained Nonlinear Programming","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385973814","doi":"https://doi.org/10.1109/tac.2023.3306492"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3306492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3306492","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065961284","display_name":"Ahmed Allibhoy","orcid":"https://orcid.org/0000-0001-6193-7129"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ahmed Allibhoy","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027913099","display_name":"Jorge Cort\u00e9s","orcid":"https://orcid.org/0000-0001-9582-5184"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jorge Cort\u00e9s","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California San Diego, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065961284"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":6.3786,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.97272391,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"69","issue":"6","first_page":"3499","last_page":"3514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12910","display_name":"Eicosanoids and Hypertension Pharmacology","score":0.9760000109672546,"subfield":{"id":"https://openalex.org/subfields/1303","display_name":"Biochemistry"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6238335371017456},{"id":"https://openalex.org/keywords/balanced-flow","display_name":"Balanced flow","score":0.5530946850776672},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5494953989982605},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5234560370445251},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4795898497104645},{"id":"https://openalex.org/keywords/nonlinear-programming","display_name":"Nonlinear programming","score":0.4780372083187103},{"id":"https://openalex.org/keywords/feasible-region","display_name":"Feasible region","score":0.4447581171989441},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.43096035718917847},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.4274725914001465},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4196212589740753},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.41478702425956726},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.41358932852745056},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.41060304641723633},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3312608599662781},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13010674715042114}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6238335371017456},{"id":"https://openalex.org/C167879884","wikidata":"https://www.wikidata.org/wiki/Q727568","display_name":"Balanced flow","level":2,"score":0.5530946850776672},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5494953989982605},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5234560370445251},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4795898497104645},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.4780372083187103},{"id":"https://openalex.org/C177067428","wikidata":"https://www.wikidata.org/wiki/Q17013331","display_name":"Feasible region","level":2,"score":0.4447581171989441},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.43096035718917847},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.4274725914001465},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4196212589740753},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.41478702425956726},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.41358932852745056},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.41060304641723633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3312608599662781},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13010674715042114},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2023.3306492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3306492","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3722962478","display_name":null,"funder_award_id":"FA9550-19-1-0235","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W1486118835","https://openalex.org/W1522222833","https://openalex.org/W1568057090","https://openalex.org/W1964755988","https://openalex.org/W1971559451","https://openalex.org/W1974283430","https://openalex.org/W1982676308","https://openalex.org/W1993647205","https://openalex.org/W1996195522","https://openalex.org/W2007696489","https://openalex.org/W2020706127","https://openalex.org/W2022541060","https://openalex.org/W2031529027","https://openalex.org/W2039110906","https://openalex.org/W2049631384","https://openalex.org/W2055793377","https://openalex.org/W2057950931","https://openalex.org/W2059313737","https://openalex.org/W2064114733","https://openalex.org/W2065846434","https://openalex.org/W2066483531","https://openalex.org/W2069671092","https://openalex.org/W2073819585","https://openalex.org/W2077612096","https://openalex.org/W2078595922","https://openalex.org/W2080803951","https://openalex.org/W2086929129","https://openalex.org/W2088216847","https://openalex.org/W2094683072","https://openalex.org/W2122491223","https://openalex.org/W2133776435","https://openalex.org/W2161294674","https://openalex.org/W2218983664","https://openalex.org/W2291992886","https://openalex.org/W2324833515","https://openalex.org/W2560504659","https://openalex.org/W2962717811","https://openalex.org/W2962893376","https://openalex.org/W2963651047","https://openalex.org/W2968945909","https://openalex.org/W3016074254","https://openalex.org/W3106043943","https://openalex.org/W3111026560","https://openalex.org/W3129263909","https://openalex.org/W3136357470","https://openalex.org/W3186624155","https://openalex.org/W3200275578","https://openalex.org/W4210279009","https://openalex.org/W4213187536","https://openalex.org/W4249667877","https://openalex.org/W4254106911","https://openalex.org/W4254313632","https://openalex.org/W4287073428","https://openalex.org/W4301014524","https://openalex.org/W4385973814","https://openalex.org/W6774091466","https://openalex.org/W6799228504","https://openalex.org/W6831385702"],"related_works":["https://openalex.org/W1967430243","https://openalex.org/W5179970","https://openalex.org/W4378552474","https://openalex.org/W2094042442","https://openalex.org/W156299565","https://openalex.org/W2018296860","https://openalex.org/W2108682989","https://openalex.org/W2313503396","https://openalex.org/W2353844281","https://openalex.org/W1982340762"],"abstract_inverted_index":{"This":[0],"paper":[1],"considers":[2],"the":[3,19,30,34,57,61,68,72,88,110,114,118,122,150,154,170,173],"problem":[4],"of":[5,29,49,60,90,130,172],"designing":[6],"a":[7,45,76,81,106,127,166],"continuous-time":[8,161],"dynamical":[9],"system":[10],"that":[11],"solves":[12],"constrained":[13],"nonlinear":[14],"optimization":[15,164],"problems":[16],"and":[17,24,79,117,140,153],"makes":[18,33],"feasible":[20,31,46,73,151],"set":[21,32,74,152],"forward":[22],"invariant":[23],"asymptotically":[25,145],"stable.":[26],"The":[27,94],"invariance":[28],"dynamics":[35],"anytime,":[36],"when":[37,50],"viewed":[38,104],"as":[39,75,105],"an":[40],"algorithm,":[41],"meaning":[42],"it":[43,51],"returns":[44],"solution":[47],"regardless":[48],"is":[52],"terminated.":[53],"Our":[54],"approach":[55],"augments":[56],"gradient":[58,100,175],"flow":[59],"objective":[62],"function":[63],"with":[64,147,159],"inputs":[65,119],"defined":[66],"by":[67],"constraint":[69,134],"functions,":[70],"treats":[71],"safe":[77,82,99,174],"set,":[78],"synthesizes":[80],"feedback":[83],"controller":[84],"using":[85],"techniques":[86],"from":[87],"theory":[89],"control":[91],"barrier":[92],"functions.":[93],"resulting":[95],"closed-loop":[96],"system,":[97],"termed":[98],"flow,":[101,108],"can":[102],"be":[103],"primal-dual":[107],"where":[109],"state":[111,156],"corresponds":[112],"to":[113,121,149],"primal":[115],"variables":[116],"correspond":[120],"dual":[123],"ones.":[124],"We":[125],"provide":[126],"detailed":[128],"suite":[129],"conditions":[131],"based":[132],"on":[133],"qualification":[135],"under":[136],"which":[137],"(both":[138],"isolated":[139],"nonisolated)":[141],"local":[142],"minimizers":[143],"are":[144],"stable":[146],"respect":[148],"whole":[155],"space.":[157],"Comparisons":[158],"other":[160],"methods":[162],"for":[163],"in":[165],"simple":[167],"example":[168],"illustrate":[169],"advantages":[171],"flow.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":16},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2023-08-19T00:00:00"}