Safety-Critical Disturbance Rejection Control of Nonlinear Systems With Unmatched Disturbances

• Published in: IEEE transactions on automatic control Vol. 70; no. 4; pp. 2722 - 2729
• Main Authors: Wang, Xinming, Yang, Jun, Liu, Cunjia, Yan, Yunda, Li, Shihua
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: 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

Safety-critical control is significant for autonomous system applications where safety is an utmost concern. Control-barrier-function (CBF)-based control has shown its promising potential and power in delivering formal safe property of dynamic nonlinear systems. The presence of disturbances, whether...