Robust Safety-Critical Control of Integrator Chains with Mismatched Perturbations via Linear Time-Varying Feedback
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914068466499584 |
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| author | Labbadi, Imtiaz Ur Rehman Moussa Abadi, Amine Voon, Lew Lew Yan |
| author_facet | Labbadi, Imtiaz Ur Rehman Moussa Abadi, Amine Voon, Lew Lew Yan |
| contents | In this paper, we propose a novel safety-critical control framework for a chain of integrators subject to both matched and mismatched perturbations. The core of our approach is a linear, time-varying state-feedback design that simultaneously enforces stability and safety constraints. By integrating backstepping techniques with a quadratic programming (QP) formulation, we develop a systematic procedure to guarantee safety under time-varying gains. We provide rigorous theoretical guarantees for the double integrator case, both in the presence and absence of perturbations, and outline general proofs for extending the methodology to higher-order chains of integrators. This proposed framework thus bridges robustness and safety-critical performance, while overcoming the limitations of existing prescribed-time approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_26629 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust Safety-Critical Control of Integrator Chains with Mismatched Perturbations via Linear Time-Varying Feedback Labbadi, Imtiaz Ur Rehman Moussa Abadi, Amine Voon, Lew Lew Yan Systems and Control In this paper, we propose a novel safety-critical control framework for a chain of integrators subject to both matched and mismatched perturbations. The core of our approach is a linear, time-varying state-feedback design that simultaneously enforces stability and safety constraints. By integrating backstepping techniques with a quadratic programming (QP) formulation, we develop a systematic procedure to guarantee safety under time-varying gains. We provide rigorous theoretical guarantees for the double integrator case, both in the presence and absence of perturbations, and outline general proofs for extending the methodology to higher-order chains of integrators. This proposed framework thus bridges robustness and safety-critical performance, while overcoming the limitations of existing prescribed-time approaches. |
| title | Robust Safety-Critical Control of Integrator Chains with Mismatched Perturbations via Linear Time-Varying Feedback |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2509.26629 |