论文标题
使用非滑动控制屏障功能的受约束差分夹杂物的最佳安全性
Optimal Safety for Constrained Differential Inclusions using Nonsmooth Control Barrier Functions
论文作者
论文摘要
对于一类广泛的非线性系统，我们提出了在限制下以最优性来确保安全性的问题。具体而言，我们定义了对差分包含的受控安全性，并在状态和输入上有限制。通过使用非平滑分析工具，我们表明可以从固定的约束中选择连续的最佳控制定律，从而捕获系统约束和条件，并使用控制屏障功能来保证安全性。我们的结果通过使用非平滑控制屏障功能设计的连续状态反馈定律确保最佳性和安全性。与目标避免障碍有关的一个例子说明了我们的结果以及使用非平滑控制屏障功能的相关优势。
For a broad class of nonlinear systems, we formulate the problem of guaranteeing safety with optimality under constraints. Specifically, we define controlled safety for differential inclusions with constraints on the states and the inputs. Through the use of nonsmooth analysis tools, we show that a continuous optimal control law can be selected from a set-valued constraint capturing the system constraints and conditions guaranteeing safety using control barrier functions. Our results guarantee optimality and safety via a continuous state-feedback law designed using nonsmooth control barrier functions. An example pertaining to obstacle avoidance with a target illustrates our results and the associated benefits of using nonsmooth control barrier functions.
