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The design process and complexity of existing safety controls are heavilydetermined by the geometrical properties of the environment, which affects theproof of convergence, design scalability, performance robustness, and numericalefficiency of the control. Hence, this paper proposes a variable structurecontrol to isolate the environment's geometrical complexity from the controlstructure. A super-twisting algorithm is used to achieve accurate trajectorytracking and robust safety control. The safety control is designed solely basedon distance measurement. First, a nominal safety model for obstacle avoidanceis derived, where realistic system constraints are considered. The nominalmodel is well-suited for safety control design for obstacle avoidance,geofencing, and border patrol with analytically proven stability results. Thesafety control utilizes distance measurement to maintain a safe distance bycompensating the robot's angular velocity. A supervisory logic is constructedto guarantee the overall stability and safety of the system. Operational safetyand precision tracking are proven under parametric uncertainty andenvironmental uncertainty. The proposed design is modular with minimal tuningparameters, which reduces the computational burden and improves the controlscalability. The effectiveness of the proposed method is verified againstvarious case studies.

Safety-Augmented Operation of Mobile Robots Using Variable Structure Control