Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions

Jinpeng Fan; Lin Lin; Guang Ren Duan

doi:10.1109/FASTA70174.2026.11548934

Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions

Jinpeng Fan
, Lin Lin
, Guang Ren Duan^*

^*Corresponding author for this work

School of Astronautics

Southern University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper addresses output-feedback safe stabilization problem for uncertain sub-fully actuated systems (sub-FASs). An extended-state-observer (ESO)-based safety control framework is developed to stabilize the closed-loop system under bounded disturbances and output-only measurements, while preventing the input matrix from becoming singular. First, a linear extended state observer is constructed to estimate the unmeasured higher-order states and the lumped uncertainty, with an explicit Lyapunov-based bound derived for the estimation error. Then, by incorporating this bound into a tightened barrier function, ESO-based control barrier function conditions are established to keep the states away from the singular set. Finally, numerical simulations on a disturbed second-order sub-FAS demonstrate the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	255-260
Number of pages	6
ISBN (Electronic)	9798319547323
DOIs	https://doi.org/10.1109/FASTA70174.2026.11548934
State	Published - 2026
Event	5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 - Qinhuangdao, China Duration: 22 May 2026 → 24 May 2026

Publication series

Name	Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

Conference

Conference	5th Conference on Fully Actuated System Theory and Applications, FASTA 2026
Country/Territory	China
City	Qinhuangdao
Period	22/05/26 → 24/05/26

Keywords

control barrier functions
extended state observer
singularity avoidance
Sub-fully actuated systems

Access to Document

10.1109/FASTA70174.2026.11548934

Cite this

Fan, J., Lin, L., & Duan, G. R. (2026). Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions. In Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 (pp. 255-260). (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/FASTA70174.2026.11548934

Fan, Jinpeng ; Lin, Lin ; Duan, Guang Ren. / Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions. Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc., 2026. pp. 255-260 (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026).

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title = "Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions",

abstract = "This paper addresses output-feedback safe stabilization problem for uncertain sub-fully actuated systems (sub-FASs). An extended-state-observer (ESO)-based safety control framework is developed to stabilize the closed-loop system under bounded disturbances and output-only measurements, while preventing the input matrix from becoming singular. First, a linear extended state observer is constructed to estimate the unmeasured higher-order states and the lumped uncertainty, with an explicit Lyapunov-based bound derived for the estimation error. Then, by incorporating this bound into a tightened barrier function, ESO-based control barrier function conditions are established to keep the states away from the singular set. Finally, numerical simulations on a disturbed second-order sub-FAS demonstrate the effectiveness of the proposed method.",

keywords = "control barrier functions, extended state observer, singularity avoidance, Sub-fully actuated systems",

author = "Jinpeng Fan and Lin Lin and Duan, \{Guang Ren\}",

note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",

year = "2026",

doi = "10.1109/FASTA70174.2026.11548934",

language = "英语",

series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "255--260",

booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",

address = "美国",

}

Fan, J, Lin, L & Duan, GR 2026, Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions. in Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026, Institute of Electrical and Electronics Engineers Inc., pp. 255-260, 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026, Qinhuangdao, China, 22/05/26. https://doi.org/10.1109/FASTA70174.2026.11548934

Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions. / Fan, Jinpeng; Lin, Lin; Duan, Guang Ren.
Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc., 2026. p. 255-260 (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions

AU - Fan, Jinpeng

AU - Lin, Lin

AU - Duan, Guang Ren

PY - 2026

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N2 - This paper addresses output-feedback safe stabilization problem for uncertain sub-fully actuated systems (sub-FASs). An extended-state-observer (ESO)-based safety control framework is developed to stabilize the closed-loop system under bounded disturbances and output-only measurements, while preventing the input matrix from becoming singular. First, a linear extended state observer is constructed to estimate the unmeasured higher-order states and the lumped uncertainty, with an explicit Lyapunov-based bound derived for the estimation error. Then, by incorporating this bound into a tightened barrier function, ESO-based control barrier function conditions are established to keep the states away from the singular set. Finally, numerical simulations on a disturbed second-order sub-FAS demonstrate the effectiveness of the proposed method.

AB - This paper addresses output-feedback safe stabilization problem for uncertain sub-fully actuated systems (sub-FASs). An extended-state-observer (ESO)-based safety control framework is developed to stabilize the closed-loop system under bounded disturbances and output-only measurements, while preventing the input matrix from becoming singular. First, a linear extended state observer is constructed to estimate the unmeasured higher-order states and the lumped uncertainty, with an explicit Lyapunov-based bound derived for the estimation error. Then, by incorporating this bound into a tightened barrier function, ESO-based control barrier function conditions are established to keep the states away from the singular set. Finally, numerical simulations on a disturbed second-order sub-FAS demonstrate the effectiveness of the proposed method.

KW - control barrier functions

KW - extended state observer

KW - singularity avoidance

KW - Sub-fully actuated systems

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DO - 10.1109/FASTA70174.2026.11548934

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BT - Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026

PB - Institute of Electrical and Electronics Engineers Inc.

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Fan J, Lin L, Duan GR. Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions. In Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026. Institute of Electrical and Electronics Engineers Inc. 2026. p. 255-260. (Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026). doi: 10.1109/FASTA70174.2026.11548934

Output Feedback Stabilization of Uncertain Sub-Fully Actuated Systems Using Control Barrier Functions

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