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Found 4 papers, 0 papers with code
Immersion and Invariance-based Disturbance Observer and Its Application to Safe Control
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance relative degree, which can pose significant limitations.
Adaptive Safety-Critical Control for a Class of Nonlinear Systems with Parametric Uncertainties: A Control Barrier Function Approach
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices.
Small-Gain Theorem for Safety Verification under High-Relative-Degree Constraints
This paper develops a small-gain technique for the safety analysis and verification of interconnected systems with high-relative-degree safety constraints.
Disturbance Observer-based Robust Control Barrier Functions
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances.
