多状态与输入约束下的鲁棒安全关键控制：体积控制屏障函数方法

This article addresses the challenge of designing robust controllers for uncertain systems subject to multiple input and state constraints. A nonlinear disturbance observer (DOB) based on the robust integral of the sign of the error (RISE) is used to estimate disturbances, and this approach is extended to high-order control barrier functions (HOCBFs) to ensure safety under unmatched disturbances with varying relative degrees. The estimated disturbances and the lower bound of the estimation error are used for synthesizing DOB-HOCBF constraints in the quadratic programming (QP)-based controller. To further address the challenges posed by multiple input and CBF constraints, the volume control barrier function (VCBF) is introduced to quantify the volume of the feasible space for the QP problem. A DOB-VCBF method is proposed to ensure that the volume of the feasible space remains strictly positive, thereby preserving the feasibility of the QP even in the presence of disturbances. By integrating the DOB-HOCBF and DOB-VCBF methods, the proposed controller simultaneously guarantees system safety and the compatibility of multiple constraints. Subsequently, several groups of simulation and experimental results are provided to validate the effectiveness of the proposed controller.