Daş, Ersin and Murray, Richard M. (2022) Robust Safe Control Synthesis with Disturbance Observer-Based Control Barrier Functions. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20220224-200901027
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Abstract
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) | ||||||
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Record Number: | CaltechAUTHORS:20220224-200901027 | ||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20220224-200901027 | ||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
ID Code: | 113594 | ||||||
Collection: | CaltechAUTHORS | ||||||
Deposited By: | George Porter | ||||||
Deposited On: | 01 Mar 2022 19:08 | ||||||
Last Modified: | 01 Mar 2022 19:08 |
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