扇区有界不确定鲁棒控制Barrier Functions
Robust Control Barrier Functions with Sector-Bounded Uncertainties
摘要：
本文主要研究对象输入具有扇区有界不确定性的安全临界控制问题。不确定性可以表示非线性和/或时变分量。我们提出了一种新的鲁棒控制障碍函数（RCBF）的方法来执行这些不确定性的存在下的安全要求。其主要目标是最小限度地改变给定的基线控制命令，以保证在建模的不确定性的存在下的安全。由此产生的最小范数最优化问题可以重铸为二阶锥程序（SOCP），使在线实施。研究了该控制器的性能，并通过数值算例说明了该方法的有效性。
英文摘要：
This paper focuses on safety critical control with sector-bounded uncertainties at the plant input. The uncertainties can represent nonlinear and/or time-varying components. We propose a new robust control barrier function (RCBF) approach to enforce safety requirements in the presence of these uncertainties. The primary objective is to minimally alter the given baseline control command to guarantee safety in the presence of modeled uncertainty. The resulting min-norm optimization problem can be recast as a Second-Order Cone Program (SOCP) to enable online implementation. Properties of this controller are studied and a numerical example is provided to illustrate the effectiveness of this approach.
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