Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback

TL;DR

This paper introduces a robust safety control method for nonlinear strict-feedback systems with disturbances, utilizing a state transformation and a linear time-varying observer to ensure safety and invariance of the safety set.

Contribution

It proposes a novel observer-based linear time-varying feedback approach for safety-critical control of nonlinear systems with mismatched disturbances.

Findings

Ensures safety set invariance in disturbed nonlinear systems

Applicable to disturbance-free systems as well

Validated through numerical simulations

Abstract

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.