Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics
查看参考文献28篇
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文摘
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Safety is an essential requirement for control systems. Typically, controlled mobile robots are subject to safety constraints, to which control laws in typical forms may not be directly applicable. This paper employs barrier function to describe safety constraints, analyzes the interaction between the barrier function and the uncertain actuation dynamics by employing the ideas of interconnected systems, and proposes a quadratic-programming-based integration of the control algorithms subject to the safety constraint for a class of fully actuated systems. |
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来源
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Journal of Systems Science and Complexity
,2022,35(2):543-558 【核心库】
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DOI
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10.1007/s11424-022-2093-5
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关键词
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Dynamic uncertainties
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fully-actuated systems
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safety control
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地址
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Northeastern University, State Key Laboratory of Synthetical Automation for Process Industries, Shenyang, 110004
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语种
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英文 |
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文献类型
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研究性论文 |
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ISSN
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1009-6124 |
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学科
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自动化技术、计算机技术 |
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基金
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国家自然科学基金
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文献收藏号
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CSCD:7238860
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参考文献 共
28
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