Barrier Functions in Cascaded Controller: Safe Quadrotor Control
Barrier Functions in Cascaded Controller: Safe Quadrotor Control
复制标题
级联控制器中的屏障功能：安全四旋翼控制
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
A. Chatterjee
中科院分区：
文献类型：
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作者：
Mouhyemen Khan;M. Zafar;A. Chatterjee
对于固有不稳定的系统，如四旋翼机，安全控制至关重要。同时对系统状态施加多个动态约束以进行安全调节是一个具有挑战性的问题。在本文中，我们提出了一种基于二次规划（QP）的四旋翼机级联控制体系结构的方法来增强安全性。在明确考虑四旋翼非线性欠驱动动力学的同时，利用控制障碍函数（CBF）构建了安全区域。利用cbf构造的安全区域为四旋翼飞行器导航建立了一个非保守的前向不变安全区域。跨越级联架构的障碍允许在四旋翼的高度和横向领域的独立安全监管。尽管障碍出现在级联的方式，我们显示在SE四旋翼运动的安全保存(3)。我们在四旋翼飞行器上验证了该方法的可行性，同时对位置和速度空间施加静态和动态约束。
Safe control for inherently unstable systems such as quadrotors is crucial. Imposing multiple dynamic constraints simultaneously on the system states for safety regulation can be a challenging problem. In this paper, we propose a quadratic programming (QP) based approach on a cascaded control architecture for quadrotors to enforce safety. Safety regions are constructed using control barrier functions (CBF) while explicitly considering the nonlinear underactuated dynamics of the quadrotor. The safety regions constructed using CBFs establish a non-conservative forward invariant safe region for quadrotor navigation. Barriers imposed across the cascaded architecture allow independent safety regulation in the quadrotor’s altitude and lateral domains. Despite barriers appearing in a cascaded fashion, we show preservation of safety for quadrotor motion in SE(3). We demonstrate the feasibility of our method on a quadrotor in simulation with static and dynamic constraints enforced on the position and velocity spaces simultaneously.