论文标题
通过控制屏障功能安全进行后退
Safe Backstepping with Control Barrier Functions
论文作者
论文摘要
复杂的控制系统通常以分层方式描述为高阶系统，其中输入出现在一系列集成器之后。虽然已证明控制屏障功能（CBF）是非线性系统安全至关重要控制器设计的强大工具，但它们在高阶系统中的应用为控制器的合成过程增加了复杂性 - 它需要动态扩展CBF以包括更高级别的术语，从而在复杂的方式中修改了安全设置。我们提出了一种通过控制屏障函数的后替计划来解决高阶系统安全性的替代方法。从Lyapunov BackStepping的方法中汲取灵感，我们提供了一个建设性的框架，用于从顶级动态安全规范和控制器设计合成高阶系统的安全至关重要控制器和CBF。此外，我们将所提出的方法与Lyapunov的后台集成在一起，从而可以单独表达稳定性和安全性的任务，但共同实现。我们证明了这种方法在模拟中的功效。
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for safety-critical controller design of nonlinear systems, their application to higher-order systems adds complexity to the controller synthesis process -- it necessitates dynamically extending the CBF to include higher order terms, which consequently modifies the safe set in complex ways. We propose an alternative approach for addressing safety of higher-order systems through Control Barrier Function Backstepping. Drawing inspiration from the method of Lyapunov backstepping, we provide a constructive framework for synthesizing safety-critical controllers and CBFs for higher-order systems from a top-level dynamics safety specification and controller design. Furthermore, we integrate the proposed method with Lyapunov backstepping, allowing the tasks of stability and safety to be expressed individually but achieved jointly. We demonstrate the efficacy of this approach in simulation.
