发表机构
University of Maryland, Baltimore County; Arizona State University（马里兰大学巴尔的摩分校; 亚利桑那州立大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对具有未知仿射参数的控制仿射系统，设计了一种结合估计器与二次规划的控制策略，实现了安全集的可达性及目标点的指数稳定，数值示例验证了其有效性
AI 中文摘要
本文研究一类具有未知参数不确定性的非线性控制仿射系统的可达-镇定问题，要求系统状态始终保持在安全集内，或在有限时间内进入安全集并保持在其中，同时收敛到目标点。设计了一种估计器，该估计器从已知的初始误差界生成参数估计值以及可计算的、非递增的估计误差界，且无需激励持续性条件。该界定义了余量，这些余量被添加到控制障碍函数和控制李雅普诺夫函数条件中，随后在二次规划中实施以实现高效的控制设计。研究表明，对于闭环系统，当系统从安全集内启动时，安全集是前向不变的；当系统从安全集外启动时，可在与未知参数无关的恢复时间界内有限时间到达安全集，且目标点是指数稳定的。在两个数值示例中，初始状态分别位于安全集外和内，所提出的控制策略、使用真实参数的基准神谕控制策略均能恢复或保持在安全集内并收敛到目标点，而使用固定错误参数的另一基准控制策略则无法保持在安全集内
英文摘要
This paper considers the reach-stabilize prob- lem for a class of nonlinear control-affine systems with unknown parametric uncertainties, where the system states must remain in a safe set at all times, or enter a safe set in finite time and then remain in it, and converge to a goal point. An estimator is designed that generates a parameter estimate and a computable, nonincreasing bound on the estimation error from a known initial error bound, without requiring persistence of excitation. The bound defines margins that are added to a control barrier and a control Lyapunov function condition, which are then enforced in a quadratic program for efficient control design. It is shown that, for the closed-loop system, the safe set is forward invariant when the system starts within the safe set and is finite-time reachable from outside the safe set with a recovery-time bound that does not depend on the unknown parameter, and that the goal point is exponentially stable. In two numerical examples, with the initial state outside and inside the safe set, the proposed control policy, a baseline oracle control policy that uses the true parameter, both recover or remain in the safe set and converge to the goal point, while another baseline control policy that uses a fixed, incorrect, parameter does not remain
