Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2025
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866912785423663104 |
|---|---|
| author | Rehman, Imtiaz Ur Labbadi, Moussa Abadi, Amine Voon, Lew Lew Yan |
| author_facet | Rehman, Imtiaz Ur Labbadi, Moussa Abadi, Amine Voon, Lew Lew Yan |
| contents | This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form that enables safe control design. The approach ensures forward invariance of the safety set and also applies to disturbancefree systems. Safety is proven for all cases, and a numerical example illustrates the results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_20226 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback Rehman, Imtiaz Ur Labbadi, Moussa Abadi, Amine Voon, Lew Lew Yan Systems and Control This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form that enables safe control design. The approach ensures forward invariance of the safety set and also applies to disturbancefree systems. Safety is proven for all cases, and a numerical example illustrates the results. |
| title | Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2512.20226 |