Wang, Xinming, Guo, Zongyi, Guo, Jianguo, Yang, Jun and Yan, Yunda
2026.
Enhancing robustness of control barrier function: a reciprocal resistance-based approach.
IEEE Transactions on Automatic Control
, pp. 1-8.
10.1109/tac.2026.3719554
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Abstract
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance bounds. By integrating a reciprocal resistance-like term into the conventional zeroing barrier function framework, we formally establish the concept of the reciprocal resistance-based barrier function (RRBF), rigorously proving the forward invariance of its associated safe set and its robustness against bounded disturbances. The RRBF inherently generates a buffer zone near the boundary of the safe set, effectively dominating the influence of uncertainties and external disturbances. This foundational concept is extended to formulate RRCBFs, including their high-order variants. To alleviate conservatism in the presence of complex, time-varying disturbances, we further introduce a disturbance observer-based RRCBF (DO-RRCBF), which exploits disturbance estimates to enhance safety guarantee and recover nominal control performance. The effectiveness of the proposed framework is validated through two simulation studies: a double-integrator linear system illustrating forward invariance in the phase plane, and an adaptive cruise control scenario demonstrating robustness in systems with high relative degree.
| Item Type: | Article |
|---|---|
| Date Type: | Published Online |
| Status: | In Press |
| Schools: | Schools > Engineering |
| Additional Information: | RRS policy applied |
| Publisher: | Institute of Electrical and Electronics Engineers |
| ISSN: | 0018-9286 |
| Date of First Compliant Deposit: | 10 August 2026 |
| Last Modified: | 10 Aug 2026 14:15 |
| URI: | https://orca.cardiff.ac.uk/id/eprint/188827 |
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