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| Robust control barrier functions based on active disturbance rejection control for adaptive cruise control |
| JaimeArcos-Legarda1,HernánGarcíaArias1,AndresHoyos2 |
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| (1 Department of Electronics Engineering, Universidad de Antioquia, Medellín 050010, Colombia;2 College of Engineering, Purdue University, West Lafayette, IN 47906, USA) |
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| 摘要: |
| The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection
control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external
disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear
extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and
disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a
nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and
safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical
simulations of a safety-critical interconnected adaptive cruise control system. |
| 关键词: Control barrier functions · Active disturbance rejection control · Extended state observer · Control Lyapunov function · Optimization-based control · Quadratic programming |
| DOI：https://doi.org/10.1007/s11768-025-00277-3 |
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| 基金项目:Dr. Jaime Arcos-Legarda’s work was supported by the Fondo para el Primer Proyecto of the Comité para el Desarrollo de la Investigación (CODI) at the Universidad de Antioquia (Grant Number PRV2024-78509). |
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| Robust control barrier functions based on active disturbance rejection control for adaptive cruise control |
| Jaime Arcos-Legarda1,Hernán García Arias1,Andres Hoyos2 |
| (1 Department of Electronics Engineering, Universidad de Antioquia, Medellín 050010, Colombia;2 College of Engineering, Purdue University, West Lafayette, IN 47906, USA) |
| Abstract: |
| The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection
control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external
disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear
extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and
disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a
nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and
safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical
simulations of a safety-critical interconnected adaptive cruise control system. |
| Key words: Control barrier functions · Active disturbance rejection control · Extended state observer · Control Lyapunov function · Optimization-based control · Quadratic programming |
