论文标题
具有多个控制输入的系统的控制障碍功能
Control Barrier Functions for Systems with Multiple Control Inputs
论文作者
论文摘要
控制障碍功能（CBF）正在成为保证非线性系统和约束安全性的流行工具，它们可以将约束最佳控制问题减少为仿射控制系统的二次程序（QP）序列。最近提出的高阶控制屏障功能（HOCBF）用于任意相对程度约束。 HOCBF中的挑战之一是在系统具有多个控制输入时解决相对程度问题，即可以针对控制向量的不同组件来定义相对程度。本文建议HOCBFS处理具有多个控制输入的系统的两种方法：一种通用积分控制方法和一种更简单但限于特定类别的物理系统类别的方法。当涉及控制范围时，提出的方法也可以显着改善上述QP的可行性。我们说明了带有两个控制输入的Unicyle模型上的方法，并比较了两种提出的方法以证明其有效性和性能。
Control Barrier Functions (CBFs) are becoming popular tools in guaranteeing safety for nonlinear systems and constraints, and they can reduce a constrained optimal control problem into a sequence of Quadratic Programs (QPs) for affine control systems. The recently proposed High Order Control Barrier Functions (HOCBFs) work for arbitrary relative degree constraints. One of the challenges in a HOCBF is to address the relative degree problem when a system has multiple control inputs, i.e., the relative degree could be defined with respect to different components of the control vector. This paper proposes two methods for HOCBFs to deal with systems with multiple control inputs: a general integral control method and a method which is simpler but limited to specific classes of physical systems. When control bounds are involved, the feasibility of the above mentioned QPs can also be significantly improved with the proposed methods. We illustrate our approaches on a unicyle model with two control inputs, and compare the two proposed methods to demonstrate their effectiveness and performance.
