Stabilization with guaranteed safety using Control Lyapunov–Barrier Function

Muhammad Zakiyullah Romdlony, Bayu Jayawardhana

Research output: Contribution to journalArticleAcademicpeer-review

89 Citations (Scopus)


We propose a novel nonlinear control method for solving the problem of stabilization with guaranteed safety for nonlinear systems. The design is based on the merging of the well-known Control Lyapunov Function (CLF) and the recent concept of Control Barrier Function (CBF). The proposed control method allows us to combine the design of a stabilizing feedback law based on CLF and the design of safety control based on CBF(s); both of which can be designed independently. Our proposed approach can also accommodate the case of multiple CBFs which correspond to multiple different sets of unsafe states. Lastly, the efficacy of the proposed approach is demonstrated in the simulation results on the stabilization of a nonlinear mechanical system and on the navigation of a mobile robot.
Original languageEnglish
Pages (from-to)39-47
Number of pages9
Publication statusPublished - 1-Apr-2016


  • Stabilisation with guaranteed safety
  • Control Lyapunov Function
  • Control Barrier Function

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