Robust Safety-Critical Control of Planar Robotic Manipulators Under Disturbances

Nguyen H, Pham D, Nguyen L (2026)

Publication Type: Conference contribution

Publication year: 2026

Pages Range: 167-172

Journal Issue: 2026

DOI: 10.1109/MMAR70562.2026.11667882

Abstract

We present a safety-critical control framework based on Disturbance Observer-Parameterized Control Barrier Functions (DOP-CBF) for general n-DOF planar robotic manipulators. The framework enforces joint angle and joint angular velocity limits as key safety constraints. It integrates a proportional-derivative (PD)-like nominal controller, a momentum-based disturbance observer, and an adaptive safety filter in a unified design. Using online estimates of lumped disturbances and their cross-joint effects, the method adaptively adjusts safety margins in real time, removing the need for prior knowledge of uncertainty bounds while accounting for disturbance-induced coupling effects commonly encountered in robotic manipulators. Our theoretical analysis establishes Input-to-State Stability of the closed-loop system. The proposed approach is validated through simulations on a 2-DOF planar manipulator under multiple scenarios. Compared with an Explicit Reference Governor (ERG), it suppresses transient overshoot and oscillations in disturbance-free conditions and maintains robust performance under Gaussian white noise, while mitigating the severe oscillations observed in the baseline.

Involved external institutions

Vietnamese-German University (VGU) VN Viet Nam (VN) Ho Chi Minh City University of Technology and Engineering (HCMUTE) / Trường Đại học Công nghệ Kỹ thuật Thành phố Hồ Chí Minh VN Viet Nam (VN)

How to cite

APA:

Nguyen, H., Pham, D., & Nguyen, L. (2026). Robust Safety-Critical Control of Planar Robotic Manipulators Under Disturbances. (pp. 167-172).

MLA:

Nguyen, Hung, Duc Pham, and Loc Nguyen. "Robust Safety-Critical Control of Planar Robotic Manipulators Under Disturbances." 2026. 167-172.

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