High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems:An Augmented Dynamics Approach  

作　　者：Haijing Wang Jinzhu Peng Fangfang Zhang Yaonan Wang 

机构地区：[1]the School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China [2]the National Engineering Laboratory for Robot Visual Perception and Control,Hunan University,Changsha 410082,China [3]the College of Electrical and Information Engineering,Hunan University,Changsha 410082,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2024年第12期2487-2496,共10页自动化学报(英文版)

基　　金：supported in part by the National Natural Science Foundation of China(62273311,61773351);Henan Provincial Science Foundation for Distinguished Young Scholars(242300421051)。

摘　　要：Although constraint satisfaction approaches have achieved fruitful results,system states may lose their smoothness and there may be undesired chattering of control inputs due to switching characteristics.Furthermore,it remains a challenge when there are additional constraints on control torques of robotic systems.In this article,we propose a novel high-order control barrier function(HoCBF)-based safety control method for robotic systems subject to input-output constraints,which can maintain the desired smoothness of system states and reduce undesired chattering vibration in the control torque.In our design,augmented dynamics are introduced into the HoCBF by constructing its output as the control input of the robotic system,so that the constraint satisfaction is facilitated by HoCBFs and the smoothness of system states is maintained by the augmented dynamics.This proposed scheme leads to the quadratic program(QP),which is more user-friendly in implementation since the constraint satisfaction control design is implemented as an add-on to an existing tracking control law.The proposed closed-loop control system not only achieves the requirements of real-time capability,stability,safety and compliance,but also reduces undesired chattering of control inputs.Finally,the effectiveness of the proposed control scheme is verified by simulations and experiments on robotic manipulators.

关 键 词：Augmented dynamics high-order control barrier function(HoCBF) input-output constraints quadratic program(QP) robotic systems 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]