多约束非线性系统安全控制新框架，可保证控制器连续且有解析解。
Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems
- 用多个控制屏障函数处理输出的盒式约束，确保安全。
- 当输出有向量相对阶时，约束兼容，控制器局部Lipschitz连续。
- 适合需要多重安全约束的机器人系统，如四旋翼飞行器。
控制屏障函数（CBFs）是约束非线性系统控制的强大工具，但现有研究多集中于单个CBF约束，难以设计能处理多重状态约束的可证明安全控制器。本文提出一种基于多个CBFs的非线性系统框约束控制框架，适用于系统输出的向量值盒约束。结果表明，当输出具有向量相对阶时，编码盒约束的CBF约束是相容的，所得到的基于优化的控制器具有局部Lipschitz连续性，并存在闭式表达。进一步分析了安全约束对原始跟踪目标性能的退化影响。通过平面四旋翼飞行器的仿真验证了该框架的有效性。
原文摘要 · Abstract (English)
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to synthesize provably safe controllers that handle multiple state constraints. This paper presents a framework for constrained control of nonlinear systems subject to box constraints on the systems' vector-valued outputs using multiple CBFs. Our results illustrate that when the output has a vector relative degree, the CBF constraints encoding these box constraints are compatible, and the resulting optimization-based controller is locally Lipschitz continuous and admits a closed-form expression. Additional results are presented to characterize the degradation of nominal tracking objectives in the presence of safety constraints. Simulations of a planar quadrotor are presented to demonstrate the efficacy of the proposed framework.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。