Hassan Almubarak, Maitham F. AL-Sunni, Justin T. Dubbin et al.
We present a Riccati-based framework for safety-critical nonlinear control that integrates the barrier states (BaS) methodology with the State-Dependent Riccati Equation (SDRE) approach. The BaS formulation embeds safety constraints into the system dynamics via auxiliary states, enabling safety to be treated as a control objective. To overcome the limited region of attraction in linear BaS controllers, we extend the framework to nonlinear systems using SDRE synthesis applied to the barrier-augmented dynamics and derive a matrix inequality condition that certifies forward invariance of a large region of attraction and guarantees asymptotic safe stabilization. The resulting controller is computed online via pointwise Riccati solutions. We validate the method on an unstable constrained system and cluttered quadrotor navigation tasks, demonstrating improved constraint handling, scalability, and robustness near safety boundaries. This framework offers a principled and computationally tractable solution for synthesizing nonlinear safe feedback in safety-critical environments.