Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach *
Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach *
复制标题
使用控制势垒函数的强不变性：克拉克切锥方法 *
DOI：
10.1109/cdc42340.2020.9303873
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Dimitra Panagou
中科院分区：
文献类型：
--
作者：
James Usevitch;Kunal Garg;Dimitra Panagou
许多控制应用要求系统被约束到一组特定的状态，通常被称为安全集。一种实用而灵活的方法，使安全集的前向不变的计算控制输入使用控制障碍函数和二次规划方法。然而，许多先前的结果要求得到的控制输入是连续的，这需要强假设或可能难以从理论上证明。在本文中，我们使用微分包含方法，同时呈现多个不变集可以使用一个不连续的控制输入来完成。我们提出了一个优化配方，计算这样的控制输入，可以构成多种形式，包括可行性问题，线性规划，或二次规划。此外，我们讨论的条件下，优化问题是可行的，并表明，任何可行的解决方案所考虑的优化问题，这是可测量的多个安全集向前不变。
Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forward-invariant involves computing control input using Control Barrier Functions and Quadratic Programming methods. Many prior results however require the resulting control input to be continuous, which requires strong assumptions or can be difficult to demonstrate theoretically. In this paper we use differential inclusion methods to show that simultaneously rendering multiple sets invariant can be accomplished using a discontinuous control input. We present an optimization formulation which computes such control inputs and which can be posed in multiple forms, including a feasibility problem, a linear program, or a quadratic program. In addition, we discuss conditions under which the optimization problem is feasible and show that any feasible solution of the considered optimization problem which is measurable renders the multiple safe sets forward invariant.
影响因子：
3
作者：
Glotfelter, Paul;Cortes, Jorge;Egerstedt, Magnus
通讯作者：
Egerstedt, Magnus