A class of unified disturbance rejection control barrier functions

Abstract

Most existing robust control barrier functions (CBFs) can only handle matched disturbances, restricting their applications in real-world scenarios. While some recent advances extend robust CBFs to unmatched disturbances, they heavily rely on differentiability property of disturbances, and fail to accommodate non-differentiable case for high-relative-degree safety constraints. To address these limitations, this paper proposes a class of disturbance rejection CBFs (DRCBFs), including DRCBFs and adaptive DRCBFs (aDRCBFs). This class of DRCBFs can strictly guarantee safety under general bounded disturbances, which includes both matched or unmatched, differentiable or non-differentiable disturbances as special cases. Morevoer, no information of disturbance bound is needed in aDRCBFs. Simulation results illustrate that this class of DRCBFs outperform existing robust CBFs.