论文标题
滑动模式控制屏障功能
Sliding Mode Control Barrier Function
论文作者
论文摘要
这项工作提出了一个滑动模式控制屏障功能，以牢固地处理安全关键控制系统中的高相对安全限制。以标称控制定律表示的稳定/跟踪目标和以控制障碍功能表示的安全限制是通过二次编程统一的。考虑到Furuta Pendulum和磁性悬浮系统，提出的控制框架已在数值上进行了验证。对于第一个系统，线性二次调节器被视为标称控制定律，并认为安全限制可以保证摆头角位置永远不会超过预定值。对于第二个，滑动模式控制器被视为标称控制定律，并且考虑了多个安全限制，以确保磁性悬浮系统位置永远不会超过预定值。对于这两种系统，我们都认为对模型不确定性的高度相对度安全限制有牢固的限制。数值结果表明，即使使用模型不确定性，也达到了稳定性/跟踪目标，并尊重安全限制。
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety constraints, expressed as control barrier functions are unified through quadratic programming. The proposed control framework is numerically validated considering a Furuta pendulum and a magnetic levitation system. For the first system, a linear quadratic regulator is considered as a nominal control law, and a safety constraint is considered to guarantee that the pendulum angular position never exceeds a predetermined value. For the second one, a sliding mode controller is considered as a nominal control law and multiple safety constraints are considered to guarantee that the magnetic levitation system positions never exceed predetermined values. For both systems, we consider high relative-degree safety constraints robust against model uncertainties. The numerical results indicate that the stability/tracking objectives are reached and the safety constraints are respected even with model uncertainties.
