具有未知参数的拉格朗日系统的安全跟踪控制  

Safe Tracking Control of Lagrangian Systems with Unknown Parameters

作　　者：李佳音 张会 LI Jiayin;ZHANG Hui(School of Mathematics and Informational Sciences,Yantai University,Yantai 264005,China)

机构地区：[1]烟台大学数学与信息科学学院,山东烟台264005

出　　处：《烟台大学学报（自然科学与工程版）》2024年第3期262-272,共11页Journal of Yantai University(Natural Science and Engineering Edition)

基　　金：国家自然科学基金资助项目(61703359,62073275)。

摘　　要：针对具有未知参数的拉格朗日系统,研究了安全跟踪控制问题。首先采用backstepping方法,设计跟踪控制器用于解决系统的轨迹跟踪问题。其次构造了自适应控制障碍函数,通过该函数得到的安全控制器确保系统状态远离安全集的边界。然后结合所提出的跟踪控制器以及自适应控制障碍函数约束产生了二次规划,基于二次规划设计安全跟踪控制器,使得系统安全的同时尽可能地跟踪到参考信号。最后仿真结果验证了所提出方法的有效性。A discussion is presented on safe tracking control problem of Lagrangian systems with unknown parameters.Firstly,a tracking controller is designed for trajectory tracking by the backstepping method.Then an adaptive control barrier function is constructed to design the safety controller,such that the system state is far from the boundary of the safety set.Based on the tracking controller and adaptive control barrier function constraints,the quadratic program is generated,and further a safety tracking controller is designed to make the system track the reference signal as closely as possible under the premise of safety.The simulation results are given to illustrate the effectiveness of the proposed method.

关 键 词：拉格朗日系统 控制障碍函数:二次规划 安全 跟踪控制 

分 类 号：O231.2[理学—运筹学与控制论]