非线性系统的安全关键控制器设计:稳定性和鲁棒性。

Mohammad Hosein Sabzalian
{"title":"非线性系统的安全关键控制器设计:稳定性和鲁棒性。","authors":"Mohammad Hosein Sabzalian","doi":"10.1016/j.isatra.2025.05.006","DOIUrl":null,"url":null,"abstract":"<p><p>This study proposes innovative closed-form solutions for designing safe controllers for nonlinear affine control systems, thereby eliminating the need for real-time quadratic programming optimization. We first focus on asymptotic stabilization using a Lyapunov-based control law, referred to as the \"unsafe control\", and introduce an additional state variable alongside a \"safeguarding control\" to guarantee safe operation of the closed-loop system. The proposed closed-form scheme limits the impact of the safeguarding control on the functionality of the closed-loop system, ensuring the derivative of a control Lyapunov function remains at least negative semi-definite. User-defined parameters provide flexibility in managing safety constraints, while the method's adaptability allows for integration with existing control techniques. Furthermore, we extend our results to robust safety control for nonlinear systems subject to external disturbances, ensuring both safety and input-to-state stability. In addition to theoretical developments, the effectiveness of the proposed controllers is validated through three comprehensive case studies, demonstrating their potential in real-world applications. The results highlight the controllers' ability to maintain safety and stability without the computational burden of real-time quadratic programming, thereby enhancing their suitability for systems with fast dynamics.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Safety-critical controller design for nonlinear systems: Stabilization and robustness.\",\"authors\":\"Mohammad Hosein Sabzalian\",\"doi\":\"10.1016/j.isatra.2025.05.006\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>This study proposes innovative closed-form solutions for designing safe controllers for nonlinear affine control systems, thereby eliminating the need for real-time quadratic programming optimization. We first focus on asymptotic stabilization using a Lyapunov-based control law, referred to as the \\\"unsafe control\\\", and introduce an additional state variable alongside a \\\"safeguarding control\\\" to guarantee safe operation of the closed-loop system. The proposed closed-form scheme limits the impact of the safeguarding control on the functionality of the closed-loop system, ensuring the derivative of a control Lyapunov function remains at least negative semi-definite. User-defined parameters provide flexibility in managing safety constraints, while the method's adaptability allows for integration with existing control techniques. Furthermore, we extend our results to robust safety control for nonlinear systems subject to external disturbances, ensuring both safety and input-to-state stability. In addition to theoretical developments, the effectiveness of the proposed controllers is validated through three comprehensive case studies, demonstrating their potential in real-world applications. The results highlight the controllers' ability to maintain safety and stability without the computational burden of real-time quadratic programming, thereby enhancing their suitability for systems with fast dynamics.</p>\",\"PeriodicalId\":94059,\"journal\":{\"name\":\"ISA transactions\",\"volume\":\" \",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2025-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISA transactions\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1016/j.isatra.2025.05.006\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISA transactions","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1016/j.isatra.2025.05.006","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

本研究为非线性仿射控制系统的安全控制器设计提出了创新的封闭形式解决方案,从而消除了对实时二次规划优化的需要。我们首先关注使用基于李雅普诺夫的控制律(称为“不安全控制”)的渐近镇定,并在“保护控制”旁边引入额外的状态变量以保证闭环系统的安全运行。所提出的封闭形式方案限制了保护控制对闭环系统功能的影响,确保控制Lyapunov函数的导数至少保持负半确定。用户定义的参数提供了管理安全约束的灵活性,而该方法的适应性允许与现有控制技术集成。此外,我们将我们的结果扩展到受外部干扰的非线性系统的鲁棒安全控制,确保了安全性和输入状态稳定性。除了理论发展之外,通过三个全面的案例研究验证了所提出控制器的有效性,展示了它们在现实世界应用中的潜力。结果表明,该控制器能够在不需要实时二次规划计算负担的情况下保持安全稳定,从而提高了其对快速动态系统的适用性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Safety-critical controller design for nonlinear systems: Stabilization and robustness.

This study proposes innovative closed-form solutions for designing safe controllers for nonlinear affine control systems, thereby eliminating the need for real-time quadratic programming optimization. We first focus on asymptotic stabilization using a Lyapunov-based control law, referred to as the "unsafe control", and introduce an additional state variable alongside a "safeguarding control" to guarantee safe operation of the closed-loop system. The proposed closed-form scheme limits the impact of the safeguarding control on the functionality of the closed-loop system, ensuring the derivative of a control Lyapunov function remains at least negative semi-definite. User-defined parameters provide flexibility in managing safety constraints, while the method's adaptability allows for integration with existing control techniques. Furthermore, we extend our results to robust safety control for nonlinear systems subject to external disturbances, ensuring both safety and input-to-state stability. In addition to theoretical developments, the effectiveness of the proposed controllers is validated through three comprehensive case studies, demonstrating their potential in real-world applications. The results highlight the controllers' ability to maintain safety and stability without the computational burden of real-time quadratic programming, thereby enhancing their suitability for systems with fast dynamics.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信