使用高阶控制障碍函数的最优安全控制
Optimal Safety Control using High-Order Control Barrier Functions
浏览论文内容
中文总结 AI 辅助
研究非线性控制系统最优安全控制问题，提出新型高阶控制障碍函数及控制Lyapunov函数，讨论二者关系与兼容性以建立最优控制器，通过四旋翼导航问题数值示例验证了结果的有效性。
中文摘要 AI 辅助
本文通过提出新型高阶控制障碍函数（HOCBFs）来研究非线性控制系统的最优安全控制问题。不同于使HOCBFs归零，推导了两种新型HOCBFs并明确设计了安全控制器。采用向量Lyapunov函数方法提出用于稳定控制问题的新型高阶控制Lyapunov函数（HOCLF），讨论了所提与现有HOCBFs的关系。解决了HOCLF与HOCBF的兼容性以同时保证稳定和安全控制目标，建立了最优控制器。最后通过四旋翼导航问题数值示例说明了所得结果的有效性。
英文摘要
This paper investigates the optimal safety control problem of nonlinear control systems by proposing novel high-order control barrier functions (HOCBFs). Different from zeroing HOCBFs, two novel HOCBFs are derived and the safety controllers are designed in an explicit way. Next, we implement vector Lyapunov function approach to propose a novel high-order control Lyapunov function (HOCLF) for the stabilization control problem. The relations between the proposed and existing HOCBFs are discussed. Afterwards, the compatibility of the proposed HOCLF and HOCBF is addressed to guarantee the stabilization and safety control objectives simultaneously, and thus the optimal controller is established. Finally, a numerical example from the navigation problem of quadrotors is presented to illustrate the efficacy of the derived results.
发表机构
- Dalian University of Technology（大连理工大学）
机构由 AI 辅助整理，请以论文原文为准。
