Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback
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.
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Rehman, I. U., Labbadi, M., Abadi, A., Voon, L. L. Y. (2025). Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback. arXiv preprint arXiv:2512.20226.
Imtiaz Ur Rehman, Moussa Labbadi, Amine Abadi, and Lew Lew Yan Voon. "Robust safety design for strict-feedback nonlinear systems via observer-based linear time varying feedback." arXiv preprint arXiv:2512.20226 (2025).