Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions

Abstract

This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate with control barrier functions to attain provably safe dynamic behavior. The observer error bound - which consists of transient and steady-state parts - is quantified, and the system is endowed with robustness against this error via the proposed controller. An adaptive cruise control problem is used as illustrative example through simulations including real disturbance data.

6 pages, 5 figures

References in corpus (1)

• Disturbance Observer-based Robust Control Barrier Functions

Cited by in corpus (5)

• Disturbance Observer-based Robust Control Barrier Functions
• MPC-CBF with Adaptive Safety Margins for Safety-critical Teleoperation over Imperfect Network Connections
• Disturbance Observer-Parameterized Control Barrier Function with Adaptive Safety Bounds
• Adaptive Estimation-Based Safety-Critical Cruise Control of Vehicular Platoons
• Immersion and Invariance-based Disturbance Observer and Its Application to Safe Control