论文标题
对输入约束系统的多个控制屏障功能的兼容性检查
Compatibility checking of multiple control barrier functions for input constrained systems
论文作者
论文摘要
状态和输入约束在控制系统设计中无处不在。最近开发的处理这些约束的工具是控制屏障功能（CBF），该功能将状态约束转换为输入空间中的条件。因此，基于CBF的控制器设计将CBF条件和输入约束都包含在二次程序中。但是，仅当CBF条件兼容时，基于CBF的控制器才能明确定义。在扰动系统的情况下，强大的兼容性是相关的。在这项工作中，我们提出了一种算法解决方案，以验证或伪造给定CBF的（可靠）兼容性先验。提出了利用CBF条件的Lipschitz特性，提出了一种带有理论分析和保证的网格采样和改进方法。
State and input constraints are ubiquitous in control system design. One recently developed tool to deal with these constraints is control barrier functions (CBF) which transform state constraints into conditions in the input space. CBF-based controller design thus incorporates both the CBF conditions and input constraints in a quadratic program. However, the CBF-based controller is well-defined only if the CBF conditions are compatible. In the case of perturbed systems, robust compatibility is of relevance. In this work, we propose an algorithmic solution to verify or falsify the (robust) compatibility of given CBFs a priori. Leveraging the Lipschitz properties of the CBF conditions, a grid sampling and refinement method with theoretical analysis and guarantees is proposed.
