论文标题
一系列集成商的规定时间安全设计
Prescribed-Time Safety Design for a Chain of Integrators
论文作者
论文摘要
通常使用控制屏障功能(CBF)来追求动力系统的安全性,该功能在系统演变的整个过程中强制执行安全指示。我们提出了一个规定的时间安全(PTSF)设计,该设计仅在用户感兴趣的有限时间内强制执行安全。尽管传统的CBF设计将使系统远离障碍的时间比必要的时间更长,但我们的PTSF设计使系统可以通过规定的时间到达屏障,并在此后遵守操作员的意图。为了强调我们的设计对具有较高相对程度的安全限制的能力,我们将博览会重点放在一系列集成链上,其中为安全状态定义了与控制输入最远的状态。与现有基于CBF的高层次度约束方法相反,我们的方法涉及选择明确指定的收益(而不是类$ \ Mathcal {k} $函数),并且在BackSteppping的帮助下,在全部原始安全设置中运行,没有对初始条件进行其他限制。设计中使用了二次编程(QP),除了带有PTSF属性的BackStepping和CBF之外,我们将设计称为QP-BackStepping PT-CBF设计。为了进行说明,我们包括了双积整系统的仿真。
Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces safety only for a finite time of interest to the user. While traditional CBF designs would keep the system away from the barrier longer than necessary, our PTSf design lets the system reach the barrier by the prescribed time and obey the operator's intent thereafter. To emphasize the capability of our design for safety constraints with high relative degrees, we focus our exposition on a chain of integrators where the safety condition is defined for the state furthest from the control input. In contrast to existing CBF-based methods for high-relative degree constraints, our approach involves choosing explicitly specified gains (instead of class $\mathcal{K}$ functions), and, with the aid of backstepping, operates in the entirety of the original safe set with no additional restriction on the initial conditions. With Quadratic Programming (QP) being employed in the design, in addition to backstepping and CBFs with a PTSf property, we refer to our design as a QP-backstepping PT-CBF design. For illustration, we include a simulation for the double-integrator system.