{"title":"Input-to-state robust safety of switched nonlinear systems using multiple barrier functions","authors":"Lijun Long , Chunxiao Huang , Yiguang Hong","doi":"10.1016/j.sysconle.2025.106068","DOIUrl":null,"url":null,"abstract":"<div><div>This paper studies input-to-state robust safety (ISRSf) for switched nonlinear systems, and provides a way to describe and analyze the robustness of systems’ safety with respect to external inputs in the switched systems framework. Without requiring the ISRSf of each subsystem, ISRSf via state-dependent switching law is obtained by exploiting a multiple barrier functions method, and a sufficient condition for ruling out Zeno phenomenon is provided. Moreover, ISRSf of switched cascade-connected systems is achieved by using multiple barrier functions and a designed dual switching law. Finally, two illustrative examples, which include a simple mobile robot navigation with controller switching, are presented to demonstrate the feasibility of the theoretical results.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"199 ","pages":"Article 106068"},"PeriodicalIF":2.1000,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Systems & Control Letters","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0167691125000507","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper studies input-to-state robust safety (ISRSf) for switched nonlinear systems, and provides a way to describe and analyze the robustness of systems’ safety with respect to external inputs in the switched systems framework. Without requiring the ISRSf of each subsystem, ISRSf via state-dependent switching law is obtained by exploiting a multiple barrier functions method, and a sufficient condition for ruling out Zeno phenomenon is provided. Moreover, ISRSf of switched cascade-connected systems is achieved by using multiple barrier functions and a designed dual switching law. Finally, two illustrative examples, which include a simple mobile robot navigation with controller switching, are presented to demonstrate the feasibility of the theoretical results.
期刊介绍：
Founded in 1981 by two of the pre-eminent control theorists, Roger Brockett and Jan Willems, Systems & Control Letters is one of the leading journals in the field of control theory. The aim of the journal is to allow dissemination of relatively concise but highly original contributions whose high initial quality enables a relatively rapid review process. All aspects of the fields of systems and control are covered, especially mathematically-oriented and theoretical papers that have a clear relevance to engineering, physical and biological sciences, and even economics. Application-oriented papers with sophisticated and rigorous mathematical elements are also welcome.
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