Robust control barrier functions based on active disturbance rejection control for adaptive cruise control
Jaime Arcos-Legarda1
Andres Hoyos2
Hernán García Arias1
1.Department of Electronics Engineering,Universidad de Antioquia,Medellín 050010,Colombia2.College of Engineering,Purdue University,West Lafayette,IN 47906,USA
摘要：The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach,designed to guarantee safety even in the presence of model inaccuracies,unknown dynamics,and external disturbances.The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances.This control strategy employs an optimization-based control,supported by the disturbance estimation from a nonlinear extended state observer.Using a quadratic programming algorithm,the controller computes an optimal,stable,and safe control action at each sampling instant.The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.
机标关键词：controldisturbancebarriercruiseactiverobustadaptivebased
论文发表日期：2025-08-30
在线出版日期：2025-12-09（本平台首次上网日期，不代表文献的发表时间）
页数：10( 454-463 )
英文信息