On Compatibility and Region of Attraction for Safe, Stabilizing Control Laws
On Compatibility and Region of Attraction for Safe, Stabilizing Control Laws
复制标题
论安全稳定控制法的兼容性和吸引力区域
DOI：
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发表时间：
2020
影响因子：
6.8
通讯作者：
Dimos V. Dimarogonas
中科院分区：
文献类型：
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作者：
Wenceslao Shaw Cortez;Dimos V. Dimarogonas
提出了一种新方法来确保非线性仿射系统的稳定性和约束满足，即“兼容性”。我们需要渐进稳定控制律和归零控制势垒函数，并定义所提出的控制安全稳定系统的吸引区域。我们的方法需要检查状态空间上的系统动力学条件，这可能在计算上是昂贵的。为了便于搜索兼容性，我们将结果扩展到一类非线性系统，包括机械系统，为此设计了一种新颖的控制器来保证无源性、安全性和稳定性。使用数值示例演示了所提出的技术。
A novel method is proposed to ensure stability and constraint satisfaction, i.e., “compatibility,” for nonlinear affine systems. We require an asymptotically stabilizing control law and a zeroing control barrier function, and define a region of attraction for which the proposed control safely stabilizes the system. Our methodology requires checking conditions of the system dynamics over the state space, which may be computationally expensive. To facilitate the search for compatibility, we extend the results to a class of nonlinear systems, including mechanical systems, for which a novel controller is designed to guarantee passivity, safety, and stability. The proposed technique is demonstrated using numerical examples.