Integrated Guidance and Control of Driftless Control-affine Systems with Control Constraints and State Exclusion Zones
Integrated Guidance and Control of Driftless Control-affine Systems with Control Constraints and State Exclusion Zones
复制标题
具有控制约束和状态排除区的无漂移控制仿射系统的综合制导与控制
DOI：
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
V. S. Prabhakaran
中科院分区：
文献类型：
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作者：
Abhijit Dongare;A. Sanyal;I. Kolmanovsky;V. S. Prabhakaran
本文提出了一种基于凸紧椭球集的自主仿射控制系统的综合制导和控制方案，该系统的允许控制输入为凸紧椭球集，其原点在系统内部，状态空间中存在凸椭球排斥区。此外，反馈系统被设计成稳定地收敛于状态空间中与禁区没有交集的目标集。该技术方法是基于新发展的积分控制势垒函数方法。设计了一个平滑障碍函数，使目标状态集为该函数的零子级集。为了避免状态空间中给定的禁区，构造了具有紧支持的障函数，并将这些禁区作为它们的零超水平集。最后，利用具有凸紧控制集作为其零子水平集的控制屏障函数设计了一个积分控制律。这些组件组合在一起，为反馈系统提供一个完整的控制屏障功能。由此得到的综合制导与控制方案保证状态稳定收敛到状态空间中期望的安全集合，同时避免状态空间中的不安全禁区，保持控制输入约束。分析展开后，一组数值模拟结果证实了分析结果。
This paper presents an integrated guidance and control scheme for autonomous control-affine systems with a convex and compact ellipsoidal set of admissible control inputs with the origin in its interior, and convex ellipsoidal exclusion zones to be avoided in the state space. In addition, the feedback system is designed to converge in a stable manner to a target set in the state space that has no intersection with the exclusion zones. The technical approach is based on the newly developed method of integral control barrier functions. A smooth barrier function is designed such that the target set of states is a zero sublevel set of this function. To avoid the given exclusion zones in the state space, barrier functions with compact support are constructed with these exclusion zones as their zero superlevel sets. Finally, an integral control law is designed using a control barrier function that has a convex and compact set of admissible controls as its zero sublevel set. These components are combined together to provide an integral control barrier function for the feedback system. The resulting integrated guidance and control scheme ensures stable convergence of states to the desired safe set in the state space, while avoiding the unsafe exclusion zones in the state space and maintaining control input constraints. The analytical development is followed by a set of numerical simulation results, which confirm the analytical findings.
使用具有控制输入约束的人工势的姿态指向控制
DOI：
10.23919/acc50511.2021.9483350
发表时间：
2021
期刊：
2021 American Control Conference (ACC
影响因子：
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作者：
Dongare, Abhijit;Hamrah, Reza;Sanyal, Amit K.
通讯作者：
Sanyal, Amit K.