TY - GEN
T1 - Safe and Robust Stabilization of Uncertain Nonlinear Systems via Control Lyapunov-barrier Function and Disturbance Observer
T2 - 62nd IEEE Conference on Decision and Control, CDC 2023
AU - Byeon, Sunseok
AU - Park, Gyunghoon
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, we address the problem of safe and robust stabilization for a class of uncertain nonlinear systems. The key idea is to employ the disturbance observer (DOB) to a nominal safety-critical controller designed for the control Lyapunov-barrier function (CLBF). The DOB estimates and compensates the lumped disturbance that represents all the effect of model uncertainty and disturbance to the system approximately but as accurately as possible. As a result, only a small perturbation remains in the control loop, which can be dealt with as long as the nominal closed-loop system is input-to-state safe (ISSf) in a sense. To ensure the ISSf property without restriction on the CLBF, we propose a modified version of the Sontag's universal formula as a nominal controller. This prelim-inary study verifies the validity of the proposed approach for 2nd-order nonlinear systems, but with mathematical analysis and simulations for the inverted pendulum on a cart.
AB - In this paper, we address the problem of safe and robust stabilization for a class of uncertain nonlinear systems. The key idea is to employ the disturbance observer (DOB) to a nominal safety-critical controller designed for the control Lyapunov-barrier function (CLBF). The DOB estimates and compensates the lumped disturbance that represents all the effect of model uncertainty and disturbance to the system approximately but as accurately as possible. As a result, only a small perturbation remains in the control loop, which can be dealt with as long as the nominal closed-loop system is input-to-state safe (ISSf) in a sense. To ensure the ISSf property without restriction on the CLBF, we propose a modified version of the Sontag's universal formula as a nominal controller. This prelim-inary study verifies the validity of the proposed approach for 2nd-order nonlinear systems, but with mathematical analysis and simulations for the inverted pendulum on a cart.
UR - http://www.scopus.com/inward/record.url?scp=85184824789&partnerID=8YFLogxK
U2 - 10.1109/CDC49753.2023.10383357
DO - 10.1109/CDC49753.2023.10383357
M3 - Conference contribution
AN - SCOPUS:85184824789
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 6525
EP - 6532
BT - 2023 62nd IEEE Conference on Decision and Control, CDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 13 December 2023 through 15 December 2023
ER -