Safety-Critical Disturbance Rejection Control of Nonlinear Systems With Unmatched Disturbances - Wang, Xinming; Yang, Jun; Liu, Cunjia; Yan, Yunda; Li, Shihua (IEEE transactions on automatic control, 2025)
Keywords: Autonomous aerial vehicles; Collision avoidance; Control systems; Control-barrier-function (CBF); disturbance observer; Disturbance observers; disturbance rejection; Disturbances; Estimation error; Liapunov functions; Nonlinear control; Nonlinear dynamical systems; Nonlinear systems; Rejection; Robustness (mathematics); Safety; Safety critical; safety-critical control; System dynamics; Trajectory; Trajectory planning; unmatched disturbance; Upper bound; Vectors; Vehicle dynamics