用凸优化解决离散系统安全控制输入计算难题
Computing Safe Control Inputs using Discrete-Time Matrix Control Barrier Functions via Convex Optimization
- 提出基于矩阵CBF的凸优化方法，处理非凸安全集问题
- 实测在四旋翼系统上实现快速安全控制输入生成
- 适合需要实时安全保障的机器人控制系统开发者
控制屏障函数（CBFs）在保障动态控制系统前向不变性和安全性方面已广泛应用。离散时间形式的一个关键限制是：当CBF在其变量上非凹时，计算保持安全的控制输入需解非凸优化问题，阻碍了实时控制输入的计算。本文提出一种新方法，利用凸优化和最近发展的矩阵控制屏障函数技术，为具有非凸安全集的离散时间系统计算安全控制输入。通过在四旋翼系统上的数值仿真验证了该方法的有效性。
原文摘要 · Abstract (English)
Control barrier functions (CBFs) have seen widespread success in providing forward invariance and safety guarantees for dynamical control systems. A crucial limitation of discrete-time formulations is that CBFs that are nonconcave in their argument require the solution of nonconvex optimization problems to compute safety-preserving control inputs, which inhibits real-time computation of control inputs guaranteeing forward invariance. This paper presents a novel method for computing safety-preserving control inputs for discrete-time systems with nonconvex safety sets, utilizing convex optimization and the recently developed class of matrix control barrier function techniques. The efficacy of our methods is demonstrated through numerical simulations on a bicopter system.
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