Observer-based Control Barrier Functions for Safety Critical Systems
- Resource Type
- Conference
- Authors
- Wang, Yujie; Xu, Xiangru
- Source
- 2022 American Control Conference (ACC) Control Conference (ACC), 2022 American. :709-714 Jun, 2022
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Deep learning
Estimation error
Uncertainty
Control design
Neural networks
Observers
Numerical simulation
- Language
- ISSN
- 2378-5861
This paper considers the safety-critical control design problem with output measurements. An observer-based safety control framework that integrates the estimation error quantified observer and the control barrier function (CBF) approach is proposed. The function approximation technique is employed to approximate the uncertainties introduced by the state estimation error, and an adaptive CBF approach is proposed to design the safe controller which is obtained by solving a convex quadratic program (QP). Theoretical results for CBFs with a relative degree 1 and a higher relative degree are given individually. The effectiveness of the proposed control approach is demonstrated by two numerical examples.