Disturbance Observers for Robust Safety-Critical Control With Control Barrier Functions

This letter provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of on and utilizes this estimate barrier functions to attain provably safe dynamic behavior. The observer error bound – which consists transient steady-state parts quantified, system endowed robustness against via proposed controller. connected cruise problem used as illustrative example through simulations including real data.