Safety-critical controller design for nonlinear systems: Stabilization and robustness.
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| Title: | Safety-critical controller design for nonlinear systems: Stabilization and robustness. |
|---|---|
| Authors: | Sabzalian, Mohammad Hosein1 (AUTHOR) mohammadhosein.sabzalian@usach.cl |
| Source: | ISA Transactions. Aug2025, Vol. 163, p98-107. 10p. |
| Subjects: | Real-time programming, Closed loop systems, Quadratic programming, Nonlinear systems, Lyapunov functions |
| Abstract: | This study proposes innovative closed-form solutions for designing safe controllers for nonlinear affine control systems, thereby eliminating the need for real-time quadratic programming optimization. We first focus on asymptotic stabilization using a Lyapunov-based control law, referred to as the "unsafe control", and introduce an additional state variable alongside a "safeguarding control" to guarantee safe operation of the closed-loop system. The proposed closed-form scheme limits the impact of the safeguarding control on the functionality of the closed-loop system, ensuring the derivative of a control Lyapunov function remains at least negative semi-definite. User-defined parameters provide flexibility in managing safety constraints, while the method's adaptability allows for integration with existing control techniques. Furthermore, we extend our results to robust safety control for nonlinear systems subject to external disturbances, ensuring both safety and input-to-state stability. In addition to theoretical developments, the effectiveness of the proposed controllers is validated through three comprehensive case studies, demonstrating their potential in real-world applications. The results highlight the controllers' ability to maintain safety and stability without the computational burden of real-time quadratic programming, thereby enhancing their suitability for systems with fast dynamics. [Display omitted] • A novel closed-form safe controller is proposed for nonlinear affine control systems, ensuring both safety and stability of the system. • This controller eliminates the need for real-time QP problem-solving, significantly simplifying implementation. • A robust closed-form safe controller is derived for nonlinear affine control systems subjected to external disturbances. • The proposed methods are flexible and can be combined with a wide range of existing control techniques. [ABSTRACT FROM AUTHOR] |
| Copyright of ISA Transactions is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 186496572 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Safety-critical controller design for nonlinear systems: Stabilization and robustness. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Sabzalian%2C+Mohammad+Hosein%22">Sabzalian, Mohammad Hosein</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> mohammadhosein.sabzalian@usach.cl</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22ISA+Transactions%22">ISA Transactions</searchLink>. Aug2025, Vol. 163, p98-107. 10p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Real-time+programming%22">Real-time programming</searchLink><br /><searchLink fieldCode="DE" term="%22Closed+loop+systems%22">Closed loop systems</searchLink><br /><searchLink fieldCode="DE" term="%22Quadratic+programming%22">Quadratic programming</searchLink><br /><searchLink fieldCode="DE" term="%22Nonlinear+systems%22">Nonlinear systems</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+functions%22">Lyapunov functions</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: This study proposes innovative closed-form solutions for designing safe controllers for nonlinear affine control systems, thereby eliminating the need for real-time quadratic programming optimization. We first focus on asymptotic stabilization using a Lyapunov-based control law, referred to as the "unsafe control", and introduce an additional state variable alongside a "safeguarding control" to guarantee safe operation of the closed-loop system. The proposed closed-form scheme limits the impact of the safeguarding control on the functionality of the closed-loop system, ensuring the derivative of a control Lyapunov function remains at least negative semi-definite. User-defined parameters provide flexibility in managing safety constraints, while the method's adaptability allows for integration with existing control techniques. Furthermore, we extend our results to robust safety control for nonlinear systems subject to external disturbances, ensuring both safety and input-to-state stability. In addition to theoretical developments, the effectiveness of the proposed controllers is validated through three comprehensive case studies, demonstrating their potential in real-world applications. The results highlight the controllers' ability to maintain safety and stability without the computational burden of real-time quadratic programming, thereby enhancing their suitability for systems with fast dynamics. [Display omitted] • A novel closed-form safe controller is proposed for nonlinear affine control systems, ensuring both safety and stability of the system. • This controller eliminates the need for real-time QP problem-solving, significantly simplifying implementation. • A robust closed-form safe controller is derived for nonlinear affine control systems subjected to external disturbances. • The proposed methods are flexible and can be combined with a wide range of existing control techniques. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of ISA Transactions is the property of Elsevier B.V. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1016/j.isatra.2025.05.006 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 10 StartPage: 98 Subjects: – SubjectFull: Real-time programming Type: general – SubjectFull: Closed loop systems Type: general – SubjectFull: Quadratic programming Type: general – SubjectFull: Nonlinear systems Type: general – SubjectFull: Lyapunov functions Type: general Titles: – TitleFull: Safety-critical controller design for nonlinear systems: Stabilization and robustness. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Sabzalian, Mohammad Hosein IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 08 Text: Aug2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 00190578 Numbering: – Type: volume Value: 163 Titles: – TitleFull: ISA Transactions Type: main |
| ResultId | 1 |
