Discrete-Time Control Barrier Function: High-Order Case and Adaptive Case

被引：44

作者：

Xiong, Yuhan ^{[1
]}

Zhai, Di-Hua ^{[1
]}

Tavakoli, Mahdi ^{[2
]}

Xia, Yuanqing ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB T6G 2R3, Canada

来源：

IEEE TRANSACTIONS ON CYBERNETICS | 2023年 / 53卷 / 05期

基金：

中国国家自然科学基金;

关键词：

Optimization; Discrete-time systems; Safety; Adaptive systems; Lyapunov methods; Dynamical systems; Time-varying systems; Control barrier functions (CBFs); discrete-time systems; optimization problem; QUADRATIC PROGRAMS;

D O I：

10.1109/TCYB.2022.3170607

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article proposes the novel concepts of the high-order discrete-time control barrier function (CBF) and adaptive discrete-time CBF. The high-order discrete-time CBF is used to guarantee forward invariance of a safe set for discrete-time systems of high relative degree. An optimization problem is then established unifying high-order discrete-time CBFs with discrete-time control Lyapunov functions to yield a safe controller. To improve the feasibility of such optimization problems, the adaptive discrete-time CBF is designed, which can relax constraints on system control input through time-varying penalty functions. The effectiveness of the proposed methods in dealing with high relative degree constraints and improving feasibility is verified on the discrete-time system of a three-link manipulator.

引用

页码：3231 / 3239

页数：9

共 30 条

[1]

Agrawal A, 2017, ROBOTICS: SCIENCE AND SYSTEMS XIII

[2]

Ahmadi M, 2019, IEEE DECIS CONTR P, P4797, DOI 10.1109/CDC40024.2019.9030241

[3]

Ames AD, 2019, 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC), P3420, DOI [10.23919/ecc.2019.8796030, 10.23919/ECC.2019.8796030]

[4] Control Barrier Function Based Quadratic Programs for Safety Critical Systems [J].

Ames, Aaron D. ;

Xu, Xiangru ;

Grizzle, Jessy W. ;

Tabuada, Paulo .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (08) :3861-3876

[5]

Ames AD, 2014, IEEE DECIS CONTR P, P6271, DOI 10.1109/CDC.2014.7040372

[6]

Ames AD, 2012, IEEE DECIS CONTR P, P6837, DOI 10.1109/CDC.2012.6426229

[7]

Chakrabarty S, 2016, IEEE INT WORK VAR, P160, DOI 10.1109/VSS.2016.7506909

[8]

Cortez WS, 2020, P AMER CONTR CONF, P950, DOI [10.23919/acc45564.2020.9147367, 10.23919/ACC45564.2020.9147367]

[9] A Control Barrier Function Approach for Maximizing Performance While Fulfilling to ISO/TS 15066 Regulations [J].

Ferraguti, Federica ;

Bertuletti, Mattia ;

Landi, Chiara Talignani ;

Bonfe, Marcello ;

Fantuzzi, Cesare ;

Secchi, Cristian .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (04) :5921-5928

[10]

Freeman R.A., 1996, ROBUST NONLINEAR CON

← 1 2 3 →