Passivity and Control Barrier Functions: Optimizing the Use of Energy
Passivity and Control Barrier Functions: Optimizing the Use of Energy
复制标题
被动性和控制屏障功能：优化能源的使用
DOI：
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发表时间：
2022
影响因子：
5.2
通讯作者：
Lorenzo Sabattini
中科院分区：
文献类型：
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作者：
Beatrice Capelli;C. Secchi;Lorenzo Sabattini
基于无源的控制可确保在受控系统中实现所需的行为，同时保持鲁棒的稳定性。在这封信中，我们提出了一种基于能量罐控制和控制屏障函数来保证无源性的新方法。目标是通过最少的修改来实现所需的行为，同时确保被动性。所提出的方法适用于广泛的应用：每当某些所需的控制动作可能破坏系统的被动性时，设计的控制屏障函数将修改行为以强制保留被动性。仿真和实际实验证明了该方法的有效性和灵活性：特别是质量-弹簧-阻尼器系统中变刚度的简单情况和基于时变人工势场的多机器人控制器。
Passivity-based control ensures the implementation of a desired behavior in a controlled system, while preserving robust stability. In this letter, we propose a new method to guarantee passivity, based on energy-tank control and Control Barrier Functions. The goal is to accomplish a desired behavior with minimal modification, while ensuring passivity. The proposed method is suitable for a wide range of applications: whenever some desired control action may disrupt the passivity of the system, the designed Control Barrier Function will modify the behavior to enforce the preservation of passivity. Simulations and real experiments were carried out to prove the effectiveness and the flexibility of the proposed method: in particular, a simple case of variable stiffness in a mass-spring-damper system and a multi-robot controller based on a time-varying artificial potential field.