论文标题
用于输入约束系统的强大的多个控制屏障功能框架
A Robust, Multiple Control Barrier Function Framework for Input Constrained Systems
论文作者
论文摘要
我们提出了一种用于安全性控制的新型（II）零控制屏障功能（ZCBF），该功能概括了原始的ZCBF方法。我们的方法允许将应用程序应用于更大的系统（例如，基于被动率），同时仍然确保了鲁棒性，为此，很难构建常规的ZCBF。我们还提出了一个本地Lipschitz的连续控制定律，该法律处理多个ZCBF，同时尊重输入约束，而现有ZCBF方法目前无法使用。我们将提出的概念应用于障碍物丰富的环境中的独轮车导航。
We propose a novel (Type-II) zeroing control barrier function (ZCBF) for safety-critical control, which generalizes the original ZCBF approach. Our method allows for applications to a larger class of systems (e.g. passivity-based) while still ensuring robustness, for which the construction of conventional ZCBFs is difficult. We also propose a locally Lipschitz continuous control law that handles multiple ZCBFs, while respecting input constraints, which is not currently possible with existing ZCBF methods. We apply the proposed concept for unicycle navigation in an obstacle-rich environment.
