控制理论(社会学)
扰动(地质)
稳健性(进化)
巡航控制
计算机科学
鲁棒控制
控制工程
控制器(灌溉)
国家观察员
控制(管理)
控制系统
工程类
人工智能
非线性系统
农学
化学
古生物学
物理
电气工程
基因
生物
量子力学
生物化学
作者
Anıl Alan,Tamás G. Molnár,Ersin Daş,Aaron D. Ames,Gábor Orosz
出处
期刊:IEEE Control Systems Letters
日期:2022-12-26
卷期号:7: 1123-1128
被引量:27
标识
DOI:10.1109/lcsys.2022.3232059
摘要
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate with control barrier functions to attain provably safe dynamic behavior. The observer error bound - which consists of transient and steady-state parts - is quantified, and the system is endowed with robustness against this error via the proposed controller. An adaptive cruise control problem is used as illustrative example through simulations including real disturbance data.
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