Disturbance Observer-based Robust Control Barrier Functions

Abstract

This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the "worst case" of disturbances, this work utilizes a DOB to estimate and compensate for the disturbances. DOB-CBF-based controllers are constructed with provably safe guarantees by solving convex quadratic programs online, to achieve a better tradeoff between safety and performance. Two types of systems are considered individually depending on the magnitude of the input and disturbance relative degrees. The effectiveness of the proposed methods is illustrated via numerical simulations.

Accepted to American Control Conference (ACC) 2023

References in corpus (2)

• Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
• Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions

Cited by in corpus (7)

• Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
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• Disturbance Observer-Parameterized Control Barrier Function with Adaptive Safety Bounds
• Safety-Ensured Robotic Control Framework for Cutting Task Automation in Endoscopic Submucosal Dissection
• Feasibility of multiple robust control barrier functions for bounding box constraints
• Proxy Control Barrier Functions: Integrating Barrier-Based and Lyapunov-Based Safety-Critical Control Design
• Immersion and Invariance-based Disturbance Observer and Its Application to Safe Control