发表机构
Massachusetts Institute of Technology; The Boeing Company（麻省理工学院; 波音公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文通过数值示例验证了一种CBF-管理器在状态反馈和积分作用下，对多输入LTI系统实现同时输入输出约束满足的可行性，并分析了其计算负担。
AI 中文摘要
本文阐述了一种新的CBF-管理器的性质，该管理器能够为一类具有状态反馈和积分作用的多输入线性时不变系统实现输入和输出约束的同时满足。该管理器的设计旨在修改参考指令，同时保留标称反馈控制器。在配套论文中推导了必要且充分的条件，在这些条件下，该管理器被证明在指定运行集的每个状态上都是可行的，并确保同时满足输入和输出约束、前向不变性以及有界闭环解。本文通过多个数值示例展示了这些理论结果。在每个示例中，我们展示了CBF-管理器的目标如何实现，并验证了相应的必要且充分条件。还阐述了所提出的CBF-管理器相关的计算负担，其在线部分可与QP求解器相当，或通过精确的闭式解确定。离线部分与SIOCF条件的检查相关，其复杂度为O(N)。
英文摘要
This paper illustrates the properties of a new CBF-governor that enables simultaneous input and output constraint satisfaction for a class of multi-input linear time-invariant systems with state feedback and integral action. This governor is designed so as to modify the reference command while preserving the nominal feedback controller. Necessary and sufficient conditions are derived in a companion paper under which the governor is shown to be feasible at every state of a prescribed operating set and ensures simultaneous input and output constraint satisfaction, forward invariance, and bounded closed-loop solutions. These theoretical results are illustrated in this paper through several numerical examples. In each of these examples, we show how the goals of the CBF-governor are met and corroborate the corresponding necessary and sufficient condition. The computational burden associated with the proposed CBF-governor is also articulated, with its online component comparable to either that of a QP solver or determined using an exact closed-form solution. The offline component is related to the checking of the SIOCF condition which is of $O(N)$.
