论文标题
输入约束下的多个控制屏障功能的组成
Compositions of Multiple Control Barrier Functions Under Input Constraints
论文作者
论文摘要
本文提出了一种确保多个控制屏障函数（CBF）组成的方法，即使在存在输入约束的情况下，也始终导致控制输入的可行条件。对于受单个约束函数的系统，存在许多方法来生成确保约束满意度的CBF。但是，当有多个约束功能时，查找和调整一个或多个CBF的问题变得更具挑战性，尤其是在存在输入约束的情况下。本文通过提供工具到1）将多个CBF的设计解决，以解决此挑战，以便可以独立于其他约束而设计为每个约束功能的CBF，以及2）确保从所有CBF组成的集合在一起是一个可行性域。因此，同时遵守所有CBF的二次程序总是可行的。然后，在非线性方向控制系统的模拟中证明了该方法的实用性。
This paper presents a methodology for ensuring that the composition of multiple Control Barrier Functions (CBFs) always leads to feasible conditions on the control input, even in the presence of input constraints. In the case of a system subject to a single constraint function, there exist many methods to generate a CBF that ensures constraint satisfaction. However, when there are multiple constraint functions, the problem of finding and tuning one or more CBFs becomes more challenging, especially in the presence of input constraints. This paper addresses this challenge by providing tools to 1) decouple the design of multiple CBFs, so that a CBF can be designed for each constraint function independently of other constraints, and 2) ensure that the set composed from all the CBFs together is a viability domain. Thus, a quadratic program subject to all the CBFs simultaneously is always feasible. The utility of this methodology is then demonstrated in simulation for a nonlinear orientation control system.
