不确定性条件下安全稳定控制器的可行性和正则性分析

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2024-07-03 DOI:10.1016/j.automatica.2024.111800

Pol Mestres, Jorge Cortés

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引用次数: 0

摘要

本文研究了不确定性条件下控制-仿真系统的安全稳定问题。我们的出发点是为动力学、控制障碍函数（CBF）和控制李亚普诺夫函数（CLF）提供最坏情况或概率误差描述。这些描述产生了二阶锥约束 (SOCC)，同时满足这些约束可保证安全稳定。我们研究了这些 SOCC 的可行性以及满足这些 SOCC 的各种控制器的正则特性。

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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Feasibility and regularity analysis of safe stabilizing controllers under uncertainty

This paper studies the problem of safe stabilization of control-affine systems under uncertainty. Our starting point is the availability of worst-case or probabilistic error descriptions for the dynamics, a control barrier function (CBF) and a control Lyapunov function (CLF). These descriptions give rise to second-order cone constraints (SOCCs) whose simultaneous satisfaction guarantees safe stabilization. We study the feasibility of such SOCCs and the regularity properties of various controllers satisfying them.

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.