论文标题
无与伦比的控制障碍功能：确定性等效性自适应安全性
Unmatched Control Barrier Functions: Certainty Equivalence Adaptive Safety
论文作者
论文摘要
尽管存在无与伦比的参数不确定性，但这项工作将使用通用自适应控制来控制屏障功能，以实现安全集的正向不变性。该方法结合了两个想法。首先是构建一个控制屏障功能系列，以确保系统对所有可能的模型安全。第二个是使用在线参数改编以有条不紊地从允许集中选择一个控制屏障功能和相应的安全控制器。尽管这种组合并不一定会产生前进的不变性，而没有对屏障功能的其他要求，但我们表明可以通过简单地在线调整适应增益来建立这种不变性。还表明，开发的方法适用于具有相对程度大于一个的安全性限制的系统。因此，这项工作代表了第一种自适应安全方法，该方法在不牺牲安全保证的情况下成功地采用了一般状态限制的确定性对等原则。
This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a family of control barrier functions that ensures the system is safe for all possible models. The second is to use online parameter adaptation to methodically select a control barrier function and corresponding safety controller from the allowable set. While such a combination does not necessarily yield forward invariance without additional requirements on the barrier function, we show that such invariance can be established by simply adjusting the adaptation gain online. It is also shown that the developed method is applicable to systems with safety constraints that have a relative degree greater than one. This work thus represents the first adaptive safety approach that successfully employs the certainty equivalence principle for general state constraints without sacrificing safety guarantees.
