Guaranteed avoidance feedback control
G. Leitmann · IEEE Transactions on Automatic Control · 1980
We consider a dynamical system under the control of two agents, one of whom desires to keep the system's state out of a given set regardless of the other agent's actions. The guaranteed avoidance conditions of [1] are generalized to admit "piecewise C1" test functions; this generalization permits application to a wider class of problems.