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arXiv · 2604.12956

Output-Feedback Safe Control of Discrete-Time Stochastic Systems with Chance Constraints

Jianing Zhao·Zhuoting Cai·Xiang Yin
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Abstract

In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an output-feedback control barrier function (CBF) framework based on an expectation-based discrete-time barrier condition that explicitly incorporates estimation uncertainty through the evolving belief over the state. To enable real-time implementation, we derive deterministic sufficient conditions that conservatively enforce the expectation-based CBF by bounding the expectation with computable functions of the belief statistics using Jensen inequalities. The resulting safety filter is formulated as a tractable optimization problem compatible with standard online controllers. Numerical simulations demonstrate that the proposed output-feedback approach achieves fast online computation while providing reliable safety performance in the presence of process noise and measurement uncertainty.

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Jianing Zhao, Zhuoting Cai, Xiang Yin. 2026-04-14. Output-Feedback Safe Control of Discrete-Time Stochastic Systems with Chance Constraints. https://arxiv.org/abs/2604.12956

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