基于滤波控制障碍函数的严格反馈系统安全控制  

Safe Control of Strict-feedback Systems Using Filtered Control Barrier Functions

作　　者：陈仲秋 刘勇华 苏春翌 CHEN Zhong-Qiu;LIU Yong-Hua;SU Chun-Yi(School of Automation,Guangdong University of Technology,Guangzhou 510006;Guangdong-Hong Kong Joint Laboratory of Intelligent Decision and Cooperative Control,Guangzhou 510006;Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control,Guangzhou 510006)

机构地区：[1]广东工业大学自动化学院,广州510006 [2]粤港智能决策与控制联合实验室,广州510006 [3]广东省智能决策与协同控制重点实验室,广州510006

出　　处：《自动化学报》2024年第12期2474-2486,共13页Acta Automatica Sinica

基　　金：国家自然科学基金(62173097,U2013601);广东省基础与应用基础研究基金面上项目(2022A515011239);广东省特支计划本土创新创业项目(2019BT02X353)资助。

摘　　要：针对一类严格反馈系统的安全控制问题,提出一种基于滤波控制障碍函数(Filtered control barrier functions,FCBF)的优化控制方法.首先引入一阶低通滤波器,构建滤波控制障碍函数.然后结合控制李雅普诺夫函数(Control Lyapunov functions,CLF)及离线优化技术,提出一种新颖的安全反推控制算法.与现有文献相比,所提控制算法通过运用滤波控制障碍函数,有效克服了安全反推过程中的“计算膨胀”问题.仿真结果验证了所提控制算法的有效性与正确性.In this paper,an optimal control approach with filtered control barrier functions(FCBF) is proposed for the safe control problem of class of strict-feedback systems.Initially,a sequence of first-order low-pass filters is first introduced to formulate the FCBF.Subsequently,by integrating control Lyapunov functions(CLF) with an off-line optimization approach,a novel safe backstepping control algorithm is devised.In contrast to existing literature,the proposed control algorithm effectively mitigates the issue of “explosion of complexity” inherent in safety backstepping procedures through the utilization of FCBF.Simulation outcomes corroborate the efficacy and validity of the proposed algorithm.

关 键 词：非线性系统 安全控制 控制障碍函数 低通滤波器 反推设计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN713[自动化与计算机技术—控制科学与工程]