Collision Avoidance and Geofencing for Fixed-Wing Aircraft With Control Barrier Functions

IF 3.9 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS
Tamas G. Molnar;Suresh K. Kannan;James Cunningham;Kyle Dunlap;Kerianne L. Hobbs;Aaron D. Ames
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引用次数: 0

Abstract

Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This article establishes the safety-critical control of fixed-wing aircraft in collision avoidance and geofencing tasks. A control framework is developed wherein a run-time assurance (RTA) system modulates the nominal flight controller of the aircraft whenever necessary to prevent it from colliding with other aircraft or crossing a boundary (geofence) in space. The RTA is formulated as a safety filter using control barrier functions (CBFs) with formal guarantees of safe behavior. CBFs are constructed and compared for a nonlinear kinematic fixed-wing aircraft model. The proposed CBF-based controllers showcase the capability of safely executing simultaneous collision avoidance and geofencing, as demonstrated by simulations on the kinematic model and a high-fidelity dynamical model.
具有控制屏障功能的固定翼飞机避碰与地理围栏
在航空航天控制中,关键安全故障往往会造成致命的后果。因此,飞机上的控制系统必须确保严格满足安全约束,最好有安全行为的正式保证。本文建立了固定翼飞机在避碰和地理围栏任务中的安全临界控制。开发了一个控制框架,其中运行时保证(RTA)系统在必要时调节飞机的标称飞行控制器,以防止其与其他飞机碰撞或越过空间边界(地理围栏)。RTA被表述为使用具有安全行为正式保证的控制屏障函数(cbf)的安全过滤器。建立了非线性固定翼飞机运动模型的cbf,并对其进行了比较。通过对运动学模型和高保真动力学模型的仿真,证明了基于cbf的控制器能够安全地同时执行避碰和地理围栏。
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
IEEE Transactions on Control Systems Technology
IEEE Transactions on Control Systems Technology 工程技术-工程:电子与电气
CiteScore
10.70
自引率
2.10%
发文量
218
审稿时长
6.7 months
期刊介绍: The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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