Discrete-Time Control Barrier Function: High-Order Case and Adaptive Case

Autor:	Yuhan Xiong, Di-Hua Zhai, Mahdi Tavakoli, Yuanqing Xia
Rok vydání:	2023
Předmět:	Human-Computer Interaction Control and Systems Engineering Electrical and Electronic Engineering Software Computer Science Applications Information Systems
Zdroj:	IEEE Transactions on Cybernetics. 53:3231-3239
ISSN:	2168-2275 2168-2267
Popis:	This article proposes the novel concepts of the high-order discrete-time control barrier function (CBF) and adaptive discrete-time CBF. The high-order discrete-time CBF is used to guarantee forward invariance of a safe set for discrete-time systems of high relative degree. An optimization problem is then established unifying high-order discrete-time CBFs with discrete-time control Lyapunov functions to yield a safe controller. To improve the feasibility of such optimization problems, the adaptive discrete-time CBF is designed, which can relax constraints on system control input through time-varying penalty functions. The effectiveness of the proposed methods in dealing with high relative degree constraints and improving feasibility is verified on the discrete-time system of a three-link manipulator.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a6fdb184021080cd7ba782c18207e36f https://doi.org/10.1109/tcyb.2022.3170607 Zobrazit plný text záznamu