非线性系统的安全分析与控制:障碍函数方法

Safety Analysis and Safety-critical Control of Nonlinear Systems:Barrier Function Approach

近年来,非线性系统的安全分析与控制已成为控制领域中的热门研究方向,而障碍函数则是该方向的一种重要工具.基于障碍函数的安全分析与控制方法具有计算效率高、鲁棒性强等优点.本文首先从多个角度介绍了基于障碍函数的非线性系统安全性分析的理论成果,并进一步综述了障碍函数方法在非线性系统安全控制中的最新进展.最后,简要地介绍了当前基于障碍函数的安全分析与控制理论中一系列尚未解决的问题,并指出了未来可能发展的一些研究方向.

Safety analysis and safety-critical control of nonlinear systems have been important issues in the control society.The barrier function is a promising tool for the safety analysis and safety-critical control of nonlinear systems.This methodology has the advantages of high computation efficiency and strong robustness.In this paper,we first review the theoretical results on barrier function based safety analysis from different viewpoints,and then summarize some recent advances of the barrier function theory in the safety-critical control of nonlinear systems.Finally,we outline a series of open questions in the barrier function theory and point out some possible research directions.