针对一类严格反馈系统的安全控制问题,提出一种基于滤波控制障碍函数(Filtered control barrier functions,FCBF)的优化控制方法.首先引入一阶低通滤波器,构建滤波控制障碍函数.然后结合控制李雅普诺夫函数(Control Lya-punov functions,CLF)及离线优化技术,提出一种新颖的安全反推控制算法.与现有文献相比,所提控制算法通过运用滤波控制障碍函数,有效克服了安全反推过程中的"计算膨胀"问题.仿真结果验证了所提控制算法的有效性与正确性.
Abstract
In this paper,an optimal control approach with filtered control barrier functions(FCBF)is proposed for the safe control problem of class of strict-feedback systems.Initially,a sequence of first-order low-pass filters is first introduced to formulate the FCBF.Subsequently,by integrating control Lyapunov functions(CLF)with an off-line optimization approach,a novel safe backstepping control algorithm is devised.In contrast to existing literature,the proposed control algorithm effectively mitigates the issue of"explosion of complexity"inherent in safety backstep-ping procedures through the utilization of FCBF.Simulation outcomes corroborate the efficacy and validity of the proposed algorithm.
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