Work

Safe Stabilization Using Non‐Smooth Control Lyapunov Barrier Function

Year: 2026

Type: article

Abstract: ABSTRACT This paper addresses the challenge of safe stabilization, ensuring the system state reaches the origin while avoiding unsafe state regions. Existing approaches that rely on smooth Lyapunov barrier functions often fail to guarantee a feasible controller. To overcome this limitation, we introduce the non‐smooth control Lyapunov barrier function (NCLBF), which ensures the existence of a safe and stabilizing controller. We provide a systematic framework for designing NCLBF and feedback control strategies to achieve safe stabilization in the presence of multiple bounded unsafe regions. Theoretical analysis and simulations of both linear and nonlinear systems demonstrate the effectiveness and superiority of our approach compared to the existing smooth functions method.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70551

Authors: Jianglin Lan, Eldert van Henten, Peter Groot Koerkamp, Congcong Sun

Institutions: University of Glasgow, Wageningen University & Research

Language: English

Topic: Formal Methods in Verification

Subfield: Computational Theory and Mathematics

Field: Computer Science

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $4,270

Funder: Leverhulme Trust