论文标题
使用控制屏障功能的安全，强大的观察者控制器合成
Safe and Robust Observer-Controller Synthesis using Control Barrier Functions
论文作者
论文摘要
本文使用估计反馈解决了安全关键控制器的合成。我们提出了一个观察者控制器互连，以确保非线性系统仍然安全，尽管对与部分状态信息相对应的系统动态和测量有限。观察者和控制器的共同设计至关重要，因为即使在不受干扰的情况下，观察者和控制器都独立设计也可能无法使系统安全。我们提出了两种合成观察者控制器互连的方法。第一种方法利用输入到状态稳定的观察者，第二种方法使用有限的错误观察者。使用这些稳定性和观察误差的界限特性，我们构建了新的控制屏障函数，这些功能对控制输入施加了不平等的约束，在满足时，这些功能会证明安全性。我们建议基于二次程序的控制器满足这些约束，并证明了派生控制器的Lipschitz连续性。对四摩托的模拟和实验证明了所提出的方法的功效。
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system dynamics and measurements that correspond to partial state information. The co-design of observers and controllers is critical, since even in undisturbed cases, observers and controllers designed independently may not render the system safe. We propose two approaches to synthesize observer-controller interconnections. The first approach utilizes Input-to-State Stable observers, and the second uses Bounded Error observers. Using these stability and boundedness properties of the observation error, we construct novel Control Barrier Functions that impose inequality constraints on the control inputs which, when satisfied, certifies safety. We propose quadratic program-based controllers to satisfy these constraints, and prove Lipschitz continuity of the derived controllers. Simulations and experiments on a quadrotor demonstrate the efficacy of the proposed methods.
