| 1,456 | 1 | 459 |
| 下载次数 | 被引频次 | 阅读次数 |
控制障碍函数能有效兼顾控制目标和安全性，成为当前研究热点之一。首先，基于非线性控制系统的复杂性介绍了一相对阶和高相对阶控制障碍函数的构造方法及其理论成果，通过各类控制障碍函数可将安全约束转化为集合前向不变性以实现系统安全控制。其次，从不同控制目标下优化问题的求解角度对基于控制障碍函数的非线性系统安全控制进行了总结。最后，基于控制障碍函数方法的可扩展性、强实时性和强鲁棒性等优点，展望了控制障碍函数方法在非线性系统安全控制领域的应用前景。
Abstract：Since control barrier function could balance control objectives and safety effectively, it has become one of the hotspots of study. Firstly, the construction methods and theoretical achievements of one relative order and high relative order control barrier functions were introduced based on the complexity of nonlinear control systems. By using various control barrier functions, safety constraints could be transformed into set forward invariance to ensure the safety control of the system. Secondly, the safety control of nonlinear systems based on control barrier functions was summarized from the perspective of solving optimization problems with different control objectives. Finally, based on the advantages of the control barrier function method, such as scalability, strong real-time performance and strong robustness, the application prospect of the control barrier function method in the field of nonlinear system safe control was explored.
[1] AMES A D,COOGAN S,EGERSTEDT M,et al.Control barrier functions:theory and applications[C]//Proceedings of the 18th European Control Conference.Piscataway:IEEE Press,2019:3420-3431.
[2] 陈杰，吕梓亮，黄鑫源，等.非线性系统的安全分析与控制：障碍函数方法[J].自动化学报，2023,49(3):567-579.CHEN J,LYU Z L,HUANG X Y,et al.Safety analysis and safety-critical control of nonlinear systems:barrier function approach[J].Acta automatica sinica,2023,49(3):567-579.
[3] XU X R,TABUADA P,GRIZZLE J W,et al.Robustness of control barrier functions for safety critical control[J].IFAC-PapersOnLine,2015,48(27):54-61.
[4] VERGINIS C K.Funnel control for uncertain nonlinear systems via zeroing control barrier functions[J].IEEE control systems letters,2023,7:853-858.
[5] LI C,ZHANG Z J,NESRIN A,et al.Instantaneous local control barrier function:an online learning approach for collision avoidance[EB/OL].(2022-01-26)[2022-12-26].https://doi.org/10.48550/arXiv.2106.05341.
[6] SCHILLIGER J,LEW T,RICHARDS S M,et al.Control barrier functions for cyber-physical systems and applications to NMPC[J].IEEE robotics and automation letters,2021,6(4):8623-8630.
[7] WANG H J,PENG J Z,ZHANG F F,et al.High-order control barrier functions-based impedance control of a robotic manipulator with time-varying output constraints[J].ISA transactions,2022,129:361-369.
[8] SHAW C W,OETOMO D,MANZIE C,et al.Control barrier functions for mechanical systems:theory and application to robotic grasping[J].IEEE transactions on control systems technology,2021,29(2):530-545.
[9] XIAO W,BELTA C,CASSANDRAS C G.Adaptive control barrier functions[J].IEEE transactions on automatic control,2022,67(5):2267-2281.
[10] 朱哲人，张新民，柴毅，等.非正障碍函数：面向非线性系统状态安全控制的一类新颖障碍函数[J].中国科学：信息科学，2022,52(10):1853-1869.ZHU Z R,ZHANG X M,CHAI Y,et al.Non-positive barrier function:a new notion of barrier function for state-safety control of nonlinear dynamical systems[J].Scientia sinica:informationis,2022,52(10):1853-1869.
[11] WANG N,FU Z M,SONG S Z,et al.Barrier-Lyapunov-based adaptive fuzzy finite-time tracking of pure-feedback nonlinear systems with constraints[J].IEEE transactions on fuzzy systems,2022,30(4):1139-1148.
[12] NGUYEN Q,SREENATH K.Exponential Control Barrier Functions for enforcing high relative-degree safety-critical constraints[C]//Proceedings of the American Control Conference.Piscataway:IEEE Press,2016:322-328.
[13] TAN X,CORTEZ W S,DIMAROGONAS D V.High-order barrier functions:robustness,safety,and performance-critical control[J].IEEE transactions on automatic control,2022,67(6):3021-3028.
[14] GHANBARPOUR M,ISALY A,SANFELICE R G,et al.Optimal safety for constrained differential inclusions using nonsmooth control barrier functions[J].IEEE control systems letters,2023,7:1303-1308.
[15] AHMADI M,SINGLETARY A,BURDICK J W,et al.Safe policy synthesis in multi-agent POMDPs via discrete-time barrier functions[C]//Proceedings of the 58th IEEE Conference on Decision and Control.Piscataway:IEEE Press,2020:4797-4803.
[16] XU X R.Constrained control of input-output linearizable systems using control sharing barrier functions[J].Automatica,2018,87:195-201.
[17] WANG H J,PENG J Z,XU J J,et al.High-order control barrier functions-based optimization control for time-varying nonlinear systems with full-state constraints:a dynamic sub-safe set approach[J].International journal of robust and nonlinear control,2023,33(8):4490-4503.
[18] JANKOVIC M.Robust control barrier functions for constrained stabilization of nonlinear systems[J].Automatica,2018,96:359-367.
[19] KOLATHAYA S,AMES A D.Input-to-state safety with control barrier functions[J].IEEE control systems letters,2019,3(1):108-113.
[20] ZHAO P,MAO Y B,TAO C Y,et al.Adaptive robust quadratic programs using control Lyapunov and barrier functions[C]//Proceedings of the 59th IEEE Conference on Decision and Control.Piscataway:IEEE Press,2021:3353-3358.
[21] ALAN A,MOLNAR T G,DA? E,et al.Disturbance observers for robust safety-critical control with control barrier functions[J].IEEE control systems letters,2023,7:1123-1128.
[22] DA? E,MURRAY R M.Robust safe control synthesis with disturbance observer-based control barrier functions[C]//Proceedings of the 61st IEEE Conference on Decision and Control.Piscataway:IEEE Press,2023:5566-5573.
[23] TAYLOR A J,AMES A D.Adaptive safety with control barrier functions[C]//Proceedings of the American Control Conference.Piscataway:IEEE Press,2020:1399-1405.
[24] LOPEZ B T,SLOTINE J J E,HOW J P.Robust adaptive control barrier functions:an adaptive and data-driven approach to safety[J].IEEE control systems letters,2021,5(3):1031-1036.
[25] MARVI Z,KIUMARSI B.Barrier-certified learning-enabled safe control design for systems operating in uncertain environments[J].IEEE/CAA journal of automatica sinica,2021,9(3):437-449.
[26] DHIMAN V,KHOJASTEH M J,FRANCESCHETTI M,et al.Control barriers in Bayesian learning of system dynamics[J].IEEE transactions on automatic control,2023,68(1):214-229.
[27] WANG Y J,XU X R.Observer-based control barrier functions for safety critical systems[C]//Proceedings of the American Control Conference.Piscataway:IEEE Press,2022:709-714.
[28] CLARK A.Control barrier functions for stochastic systems[J].Automatica,2021,130:109688.
[29] AMES A D,XU X R,GRIZZLE J W,et al.Control barrier function based quadratic programs for safety critical systems[J].IEEE transactions on automatic control,2017,62(8):3861-3876.
[30] TAN X,DIMAROGONAS D V.On the undesired equilibria induced by control barrier function based quadratic programs[EB/OL].(2021-04-30)[2022-11-21].https://doi.org/10.48550/arXiv.2104.14895.
[31] SPYRAKOS-PAPASTAVRIDIS E,DAI J S.Minimally model-based trajectory tracking and variable impedance control of flexible-joint robots[J].IEEE transactions on industrial electronics,2021,68(7):6031-6041.
[32] XU X R,WATERS T,PICKEM D,et al.Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds[C]//IEEE Conference on Control Technology and Applications.Piscataway:IEEE Press,2017:1769-1775.
[33] NGUYEN Q,SREENATH K.Safety-critical control for dynamical bipedal walking with precise footstep placement[J].IFAC-PapersOnLine,2015,48(27):147-154.
[34] EGERSTEDT M,PAULI J N,NOTOMISTA G,et al.Robot ecology:constraint-based control design for long duration autonomy[J].Annual reviews in control,2018,46:1-7.
[35] FERRAGUTI F,BERTULETTI M,LANDI C T,et al.A control barrier function approach for maximizing performance while fulfilling to ISO/TS 15066 regulations[J].IEEE robotics and automation letters,2020,5(4):5921-5928.
[36] SINGLETARY A,KOLATHAYA S,AMES A D.Safety-critical kinematic control of robotic systems[J].IEEE control systems letters,2022,6:139-144.
[37] 张方方，张文丽，王婷婷.基于速度补偿算法的多机器人编队控制研究[J].郑州大学学报(工学版),2022,43(2):1-6,14.ZHANG F F,ZHANG W L,WANG T T.Research on multi-robot formation control based on speed compensation algorithm[J].Journal of Zhengzhou university (engineering science),2022,43(2):1-6,14.
[38] WANG L,AMES A D,EGERSTEDT M.Safety barrier certificates for collisions-free multirobot systems[J].IEEE transactions on robotics,2017,33(3):661-674.
[39] CHENG R,KHOJASTEH M J,AMES A D,et al.Safe multi-agent interaction through robust control barrier functions with learned uncertainties[C]//Proceedings of the 59th IEEE Conference on Decision and Control.Piscataway:IEEE Press,2021:777-783.
[40] LINDEMANN L,DIMAROGONAS D V.Decentralized control barrier functions for coupled multi-agent systems under signal temporal logic tasks[C]//Proceedings of the 18th European Control Conference.Piscataway:IEEE Press,2019:89-94.
[41] LINDEMANN L,DIMAROGONAS D V.Control barrier functions for multi-agent systems under conflicting local signal temporal logic tasks[J].IEEE control systems letters,2019,3(3):757-762.
[42] LI A Q,WANG L,PIERPAOLI P,et al.Formally correct composition of coordinated behaviors using control barrier certificates[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway:IEEE Press,2019:3723-3729.
[43] IBUKI T,WILSON S,YAMAUCHI J,et al.Optimization-based distributed flocking control for multiple rigid bodies[J].IEEE robotics and automation letters,2020,5(2):1891-1898.
基本信息:
DOI：10.13705/j.issn.1671-6841.2023072
中图分类号:TP13
引用信息:
[1]王海静,彭金柱,张方方.基于控制障碍函数的受限非线性系统安全控制研究进展[J].郑州大学学报(理学版),2024,56(06):1-8.DOI:10.13705/j.issn.1671-6841.2023072.
基金信息:
国家自然科学基金项目(62273311,61773351);; 河南省重点研发与推广专项(222102220117)