Robust Safety Critical Control Under Multiple State and Input Constraints: Volume Control Barrier Function Method

摘要

In this paper, the safety-critical control problem for uncertain systems under multiple control barrier function (CBF) constraints and input constraints is investigated. A novel framework is proposed to generate a safety filter that minimizes changes to reference inputs when safety risks arise, ensuring a balance between safety and performance. A nonlinear disturbance observer (DOB) based on the robust integral of the sign of the error (RISE) is used to estimate system uncertainties, ensuring that the estimation error converges to zero exponentially. This error bound is integrated into the safety-critical controller to reduce conservativeness while ensuring safety. To further address the challenges arising from multiple CBF and input constraints, a novel Volume CBF (VCBF) is proposed by analyzing the feasible space of the quadratic programming (QP) problem. % ensuring solution feasibility by keeping the volume as a positive value. To ensure that the feasible space does not vanish under disturbances, a DOB-VCBF-based method is introduced, ensuring system safety while maintaining the feasibility of the resulting QP. Subsequently, several groups of simulation and experimental results are provided to validate the effectiveness of the proposed controller.