# Safe reinforcement learning for affine nonlinear systems with state constraints and input saturation using control barrier functions

> Research article (Neurocomputing, 2022) · cited 29× · AI/ML

**Wikidata**: [openalex:W4308463062](https://www.wikidata.org/wiki/openalex:W4308463062)  
**Source**: https://4ort.xyz/entity/safe-reinforcement-learning-for-affine-nonlinear-systems-with-state-constraints-and-input-saturation-using-control-barri