
This work introduces a novel Proxy Control Barrier Function (PCBF) scheme that integrates barrier-based and Lyapunov-based safety-critical control strategies for strict-feedback systems with potentially unknown dynamics. The proposed method employs a modular design procedure, decomposing the original system into a proxy subsystem and a virtual tracking subsystem that are controlled by the control barrier function (CBF)-based and Lyapunov-based controllers, respectively. By integrating these separately designed controllers, the overall system's safety is ensured. Moreover, a new filter-based disturbance observer is utilized to design a PCBF-based safe controller for strict-feedback systems subject to mismatched disturbances. This approach broadens the class of systems to which CBF-based methods can be applied and significantly simplifies CBF construction by requiring only the model of the proxy subsystem. The effectiveness of the proposed method is demonstrated through numerical simulations.
strict-feedback system, control barrier function, safety-critical control, Optimization and Control (math.OC), Control/observation systems with incomplete information, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, uncertain system, Systems and Control (eess.SY), Feedback control, Electrical Engineering and Systems Science - Systems and Control, Mathematics - Optimization and Control
strict-feedback system, control barrier function, safety-critical control, Optimization and Control (math.OC), Control/observation systems with incomplete information, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, uncertain system, Systems and Control (eess.SY), Feedback control, Electrical Engineering and Systems Science - Systems and Control, Mathematics - Optimization and Control
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