Observer-Based Environment Robust Control Barrier Functions for Safety-Critical Control With Dynamic Obstacles
Journal article, 2025
This letter proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to improve robustness against the uncertainties associated with moving obstacles. The approach reduces conservatism, compared with a worst-case uncertainty approach, by incorporating a state observer for obstacles into the ECBF design. The safety-guaranteed controller is achieved by efficiently solving a quadratic programming problem. The effectiveness of the proposed method is demonstrated via a dynamic obstacle-avoidance problem for an autonomous vehicle, including comparisons with established baseline approaches.
Vehicle dynamics
Observers
Safety
Control barrier function
Control systems
Estimation error
safety-critical control
Electrical engineering
Uncertainty
Measurement uncertainty
Robustness
constrained control
Vectors
Author
Yingshuai Quan
Chalmers, Electrical Engineering, Systems and control
Jian Zhou
Linköping University
Erik Frisk
Linköping University
Chung Choo Chung
Hanyang University
IEEE Control Systems Letters
24751456 (eISSN)
Vol. 9 1051-1056Subject Categories (SSIF 2025)
Robotics and automation
Control Engineering
DOI
10.1109/LCSYS.2025.3581497