论文标题
具有固定时间收敛保证的强大控制障碍和控制Lyapunov功能
Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence Guarantees
论文作者
论文摘要
本文研究了在加性干扰和状态估计误差下的一般非线性，控制型动力学系统的一般类别的合成。在存在输入约束的情况下，我们将静态和动态安全集的不变性以及在用户定义的时间内的给定目标集的不变性。我们使用控制屏障函数（CBF）和固定时间控制Lyapunov功能（FXT-CLF）的鲁棒变体来在系统动力学和状态估计错误中纳入一类添加性干扰。为了解决潜在的约束控制问题，我们制定了一个二次程序，并使用建议的鲁棒CBF-FXT-CLF条件来计算控制输入。我们展示了所提出的方法对涉及多个船用车辆的数值案例研究的功效。
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence to a given goal set within a user-defined time in the presence of input constraints. We use robust variants of control barrier functions (CBF) and fixed-time control Lyapunov functions (FxT-CLF) to incorporate a class of additive disturbances in the system dynamics, and state-estimation errors. To solve the underlying constrained control problem, we formulate a quadratic program and use the proposed robust CBF-FxT-CLF conditions to compute the control input. We showcase the efficacy of the proposed method on a numerical case study involving multiple underactuated marine vehicles.
