Safe controller design for circular motion of a bicycle robot using control Lyapunov function and control barrier function

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions Pub Date : 2025-02-01 DOI:10.1016/j.isatra.2024.12.020

Lei Guo , Hongyu Lin , Yuan Song , Yufeng Zhuang , Dongming Gan

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引用次数: 0

Abstract

This paper investigates the safety control problem of a bicycle robot with front-wheel drive and without a trail or mechanical regulator during circular motion. Constraints on the drive angular speed necessary for the bicycle to achieve circular motion are proposed. In practical robot systems, bounded input disturbances are inevitable. To address this, we propose a safe controller that integrates the control Lyapunov function (CLF) constraints for input-to-state stability (ISS) and the control barrier function (CBF) constraints for input-to-state safety (ISSf), implemented using quadratic programming (QP). Our controller achieves enhanced safety in control while reducing control effort. The effectiveness of this controller is verified through simulation comparative experiments. Furthermore, circular motion is achieved through physical experiments with a real robot, and the effectiveness of the ISS-CLF-ISSf-CBF-QP controller is validated through comparative experiments.

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利用控制李雅普诺夫函数和控制障碍函数设计自行车机器人圆周运动安全控制器。

研究了一种前轮驱动、无履带和无机械调节器的自行车机器人在圆周运动中的安全控制问题。提出了自行车实现圆周运动所需的驱动角速度约束条件。在实际的机器人系统中，有界输入干扰是不可避免的。为了解决这个问题，我们提出了一种安全控制器，该控制器集成了用于输入到状态稳定性（ISS）的控制李雅普诺夫函数（CLF）约束和用于输入到状态安全性（ISSf）的控制屏障函数（CBF）约束，使用二次规划（QP）实现。我们的控制器在减少控制工作量的同时提高了控制的安全性。通过仿真对比实验验证了该控制器的有效性。通过真实机器人的物理实验实现了机器人的圆周运动，并通过对比实验验证了ISS-CLF-ISSf-CBF-QP控制器的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

ISA transactions 工程技术-工程：综合

CiteScore

11.70

自引率

12.30%

发文量

824

审稿时长

4.4 months

期刊介绍： ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.