Observer-Based Environment Robust Control Barrier Functions for Safety-Critical Control With Dynamic Obstacles
Artikel i vetenskaplig tidskrift, 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
Författare
Yingshuai Quan
Chalmers, Elektroteknik, System- och reglerteknik
Jian Zhou
Linköpings universitet
Erik Frisk
Linköpings universitet
Chung Choo Chung
Hanyang University
IEEE Control Systems Letters
24751456 (eISSN)
Vol. 9 1051-1056Ämneskategorier (SSIF 2025)
Robotik och automation
Reglerteknik
DOI
10.1109/LCSYS.2025.3581497