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, un...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.展开更多
In this paper,a data-driven method for disturbance estimation and rejection is presented.The proposed approach is divided into two stages:an inner stabilization loop,to set the desired reference model,together with an...In this paper,a data-driven method for disturbance estimation and rejection is presented.The proposed approach is divided into two stages:an inner stabilization loop,to set the desired reference model,together with an outer loop for disturbance estimation and compensation.Inspired by the active disturbance rejection control framework,the exogenous and endogenous disturbances are lumped into a lotal disturbance signal.This signal is estimaed using an on-line algorithm based on a data-driven predictor scheme,whose parameters are chosen Io salisfy high robustnessperformance criteria.The above process is presented as a novel enhancement lo design a disturbance observer,w hich constitutes the main contribution of the paper.In addition,the control strategy is completely presented in discrete time,avoiding the use of discretization methods for its digital implementation.As a case study,the voltage control of a DC-DC synchronous buck converter aflected by disturbances in the input voltage and the load is considered.Finally,experimental results that validate the proposed stralegy and some comparisons with the classical disturbance observer-based control are presented.展开更多
基金supported by the Fondo para el Primer Proyecto of the Comitépara el Desarrollo de la Investigación(CODI)at the Universidad de Antioquia(Grant Number PRV2024-78509)。
文摘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.
文摘In this paper,a data-driven method for disturbance estimation and rejection is presented.The proposed approach is divided into two stages:an inner stabilization loop,to set the desired reference model,together with an outer loop for disturbance estimation and compensation.Inspired by the active disturbance rejection control framework,the exogenous and endogenous disturbances are lumped into a lotal disturbance signal.This signal is estimaed using an on-line algorithm based on a data-driven predictor scheme,whose parameters are chosen Io salisfy high robustnessperformance criteria.The above process is presented as a novel enhancement lo design a disturbance observer,w hich constitutes the main contribution of the paper.In addition,the control strategy is completely presented in discrete time,avoiding the use of discretization methods for its digital implementation.As a case study,the voltage control of a DC-DC synchronous buck converter aflected by disturbances in the input voltage and the load is considered.Finally,experimental results that validate the proposed stralegy and some comparisons with the classical disturbance observer-based control are presented.
