This paper discusses a new approach for safe control design that ensures the robustness of nonlinear feedback systems in the presence of unmodeled system dynamics and external disturbances. The approach combines control barrier functions (CBFs) with a new uncertainty/disturbance estimator to ensure safety against model uncertainties. The method is tested and verified through a simulation of an uncertain elastic actuator control problem and on a tracked robot with slope-induced perturbations. The paper highlights the importance of system safety in the deployment of autonomous and cyber-physical systems in real-world environments.
Publication date: 5 Jan 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2401.01881
