Robust Safety-Critical Control of a Class of Second-Order Nonlinear Systems Using Sliding Mode Control

In this paper, we address robust stabilization and safety for a class of nonlinear systems. To achieve this, we employ sliding mode control and control barrier function approaches to ensure both objectives. Additionally, our proposed method guarantees high-order safety by integrating the control barrier function with a nonsingular fast terminal sliding variable and incorporating a robust reaching law in the safety design. To reduce the chattering problem, we used the super twisting algorithm for our nominal control algorithm. The robustness of the proposed strategy in the presence of multiple safety constraints is validated through numerical simulation examples.