76 citations · 102 across the 23 of their papers we have counts for
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eess.SY2022★ 76 cited
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
Anil Alan, Tamas G. Molnar, Ersin Das +2
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the eff…
eess.SY2022★ 9 cited
Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions
Ersin Daş, Richard M. Murray
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper prese…