针对无法直接抵消的扰动，提出安全可控的新方法。
Input-to-State Safe Backstepping: Robust Safety-Critical Control with Unmatched Uncertainties
- 基于最优衰减约束函数，扩展输入-状态安全框架
- 可处理严格反馈与双相对阶系统中的未匹配不确定性
- 适合无人机、机器人等高安全性要求场景
在存在未匹配扰动（即无法通过控制输入直接抵消的不确定性）的情况下保障系统安全，仍是非线性控制中的关键挑战。本文提出一种构造性方法，用于具有未匹配不确定性的非线性系统的安全关键控制。首先，基于最近提出的最优衰减约束函数（Optimal Decay CBF），将输入-状态安全（ISSf）框架推广至含此类不确定性的系统，使安全相关的李雅普诺夫型条件更具灵活性。随后，针对两类典型系统——严格反馈系统与双相对阶系统（类似微分平坦系统）——给出构建ISSf-CBF的具体步骤。理论结果通过倒立摆和平面四旋翼机的数值仿真验证。
原文摘要 · Abstract (English)
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to safety-critical control of nonlinear systems with unmatched disturbances. We first present a generalization of the input-to-state safety (ISSf) framework for systems with these uncertainties using the recently developed notion of an Optimal Decay CBF, which provides more flexibility for satisfying the associated Lyapunov-like conditions for safety. From there, we outline a procedure for constructing ISSf-CBFs for two relevant classes of systems with unmatched uncertainties: i) strict-feedback systems; ii) dual-relative-degree systems, which are similar to differentially flat systems. Our theoretical results are illustrated via numerical simulations of an inverted pendulum and planar quadrotor.
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。