论文标题
基于干扰观察者的强大控制屏障功能
Disturbance Observer-based Robust Control Barrier Functions
论文作者
论文摘要
这项工作提出了一种安全的控制设计方法，该方法将干扰观察者（DOB）和控制屏障功能（CBF）集成到具有外部干扰的系统。与现有的强大CBF结果不同，该结果考虑了“最坏情况”的干扰情况，这项工作利用DOB来估计和补偿这些干扰。基于DOB-CBF的控制器是通过在线求解凸的二次程序来构建的，可以通过在线求解凸面进行保证，以在安全性和性能之间取得更好的权衡。根据输入和干扰相对程度的大小，将两种类型的系统视为单独的系统。通过数值模拟说明了所提出方法的有效性。
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the "worst case" of disturbances, this work utilizes a DOB to estimate and compensate for the disturbances. DOB-CBF-based controllers are constructed with provably safe guarantees by solving convex quadratic programs online, to achieve a better tradeoff between safety and performance. Two types of systems are considered individually depending on the magnitude of the input and disturbance relative degrees. The effectiveness of the proposed methods is illustrated via numerical simulations.
