具有扇区有界的非线性系统的鲁棒时变控制屏障函数
Robust Time-Varying Control Barrier Functions with Sector-Bounded Nonlinearities
AI总结：
本文提出一种鲁棒时变控制屏障函数，通过二次约束保证非线性输入的安全性，定义安全过滤器以最小化控制器命令修改，并在航天器对接中验证其有效性。
摘要：
本文提出了一种确保受输入非线性和时变安全约束系统安全运行的新方法。我们扩展了时变屏障函数框架以处理时变安全约束，并显式考虑在植物输入处的控制相关非线性。通过点wise-in-time二次约束提供这些非线性的输入输出行为的保证界限。结果是一类鲁棒时变控制屏障函数，定义了一个安全过滤器。该过滤器确保所有可接受的非线性下的鲁棒安全，同时最小化基线控制器生成命令的修改。我们推导了一个二次锥规划（SOCP）来在线计算这个安全过滤器，并提供了新的可行性条件用于球约束输入。所提出的方法在航天器对接 maneuver 上进行了演示。
英文摘要：
This paper presents a novel approach for ensuring safe operation of systems subject to input nonlinearities and time-varying safety constraints. We extend the time-varying barrier function framework to address time-varying safety constraints and explicitly account for control-dependent nonlinearities at the plant input. Guaranteed bounds on the input-output behavior of these nonlinearities are provided through pointwise-in-time quadratic constraints. The result is a class of robust time-varying control barrier functions that define a safety filter. This filter ensures robust safety for all admissible nonlinearities while minimally modifying the command generated by a baseline controller. We derive a second-order cone program (SOCP) to compute this safety filter online and provide novel feasibility conditions for ball-constrained inputs. The proposed approach is demonstrated on a spacecraft docking maneuver.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
