Self-triggered Control for Safety Critical Systems Using Control Barrier Functions
Self-triggered Control for Safety Critical Systems Using Control Barrier Functions
复制标题
使用控制屏障功能对安全关键系统进行自触发控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Roberto Tron
中科院分区：
文献类型：
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作者：
Guang Yang;C. Belta;Roberto Tron
我们提出了一种将自触发控制与控制李雅普诺夫函数（CLF）和控制屏障函数（CBF）相结合的实时控制策略。与提出基于 CLF-CBF 的控制器的相关工作类似，控制器的计算是通过求解二次规划（QP）来实现的。然而，我们提出了控制器的零阶保持（ZOH）实现，它克服了基于周期性控制器的传统方法的主要局限性，即不必要的控制器更新和潜在的安全约束违规。我们方法的核心是安全期的新颖概念，它为实施 ZOH 控制提供了强有力的安全保证。此外，我们证明系统在接近所需平衡时不会表现出芝诺行为。
We propose a real-time control strategy that combines self-triggered control with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF). Similar to related works proposing CLF-CBF-based controllers, the computation of the controller is achieved by solving a Quadratic Program (QP). However, we propose a Zeroth-Order Hold (ZOH) implementation of the controller that overcomes the main limitations of traditional approaches based on periodic controllers, i.e., unnecessary controller updates and potential violations of the safety constraints. Central to our approach is the novel notion of safe period, which enforces a strong safety guarantee for implementing ZOH control. In addition, we prove that the system does not exhibit a Zeno behavior as it approaches the desired equilibrium.