利用动态安全裕度设计欠驱动欧拉-拉格朗日系统的控制障碍函数

IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS

IEEE Control Systems Letters Pub Date : 2025-03-16 DOI:10.1109/LCSYS.2025.3570934

Victor Freire;Sauranil Debarshi;Marco M. Nicotra

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引用次数: 0

摘要

这封信展示了如何为欠驱动和完全驱动的欧拉-拉格朗日系统设计受状态和输入约束的控制屏障函数。该方法利用基于被动性的考虑来限制系统可用的总能量并保证约束的满足。该方法可以处理多个状态和输入约束，而不考虑相对程度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Designing Control Barrier Functions for Underactuated Euler–Lagrange Systems Using Dynamic Safety Margins

This letter shows how to design control barrier functions for underactuated and fully-actuated Euler-Lagrange systems subject to state and input constraints. The proposed method uses passivity-based considerations to limit the total energy available to the system and ensure constraint satisfaction. The approach can handle multiple state and input constraints regardless of relative degree.

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来源期刊

IEEE Control Systems Letters Mathematics-Control and Optimization

CiteScore

4.40

自引率

13.30%

发文量

471