Safe and Robust Stabilization of Uncertain Nonlinear Systems via Control Lyapunov-barrier Function and Disturbance Observer: A Preliminary Study

Sunseok Byeon, Gyunghoon Park

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6525-6532
Number of pages8
ISBN (Electronic)9798350301243
DOIs
StatePublished - 2023
Event62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore
Duration: 13 Dec 202315 Dec 2023

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference62nd IEEE Conference on Decision and Control, CDC 2023
Country/TerritorySingapore
CitySingapore
Period13/12/2315/12/23

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