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Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions

Daş, Ersin and Murray, Richard M. (2022) Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions. . (Unpublished)

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In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller synthesis framework with control Lyapunov functions (CLFs) and control barrier functions (CBFs) in the presence of disturbance. A high-gain input observer method is adapted to estimate the time-varying unmodelled dynamics of the CBF with an error bound using the first-order time derivative of the CBF. This approach leads to an easily tunable low order disturbance estimator structure with a design parameter as it utilizes only the CBF constraint. The estimated unknown input and associated error bound are used to ensure robust safety and exponential stability by formulating a CLF-CBF quadratic program. The proposed method is applicable to both relative degree one and higher relative degree CBF constraints. The efficacy of the proposed approach is demonstrated using a numerical simulations of an adaptive cruise control system and a Segway platform with an external disturbance.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Daş, Ersin0000-0003-1291-3803
Murray, Richard M.0000-0002-5785-7481
Record Number:CaltechAUTHORS:20220224-200901027
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:113594
Deposited By: George Porter
Deposited On:01 Mar 2022 19:08
Last Modified:01 Mar 2022 19:08

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