Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback
Systems and Control
2025-12-24 v1 Systems and Control
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.
Cite
@article{arxiv.2512.20226,
title = {Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback},
author = {Imtiaz Ur Rehman and Moussa Labbadi and Amine Abadi and Lew Lew Yan Voon},
journal= {arXiv preprint arXiv:2512.20226},
year = {2025}
}