论文标题
通过控制屏障功能的障碍观察者，用于强大的安全性控制功能
Disturbance Observers for Robust Safety-critical Control with Control Barrier Functions
论文作者
论文摘要
这项工作为具有干扰的控制系统提供了正式的安全保证。提出了一个基于干扰观察者的鲁棒性安全关键控制器，该控制器估计了干扰对安全性的影响，并利用控制屏障功能来实现可证明安全的动态行为。量化了观察者误差结合 - 由瞬态和稳态零件组成，并通过建议的控制器赋予该系统与此误差的稳健性。自适应巡航控制问题通过包括实际干扰数据在内的模拟用作说明性示例。
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.
