基于控制障碍函数的受限非线性系统安全控制研究进展

Progress of Research on Safety Control of Constrained Nonlinear System Based on Control Barrier Function

控制障碍函数能有效兼顾控制目标和安全性,成为当前研究热点之一。首先,基于非线性控制系统的复杂性介绍了一相对阶和高相对阶控制障碍函数的构造方法及其理论成果,通过各类控制障碍函数可将安全约束转化为集合前向不变性以实现系统安全控制。其次,从不同控制目标下优化问题的求解角度对基于控制障碍函数的非线性系统安全控制进行了总结。最后,基于控制障碍函数方法的可扩展性、强实时性和强鲁棒性等优点,展望了控制障碍函数方法在非线性系统安全控制领域的应用前景。

Since control barrier function could balance control objectives and safety effectively,it has become one of the hotspots of study.Firstly,the construction methods and theoretical achievements of one relative order and high relative order control barrier functions were introduced based on the complexity of nonlinear control systems.By using various control barrier functions,safety constraints could be transformed into set forward invariance to ensure the safety control of the system.Secondly,the safety control of nonlinear systems based on control barrier functions was summarized from the perspective of solving optimization problems with different control objectives.Finally,based on the advantages of the control barrier function method,such as scalability,strong real-time performance and strong robustness,the application prospect of the control barrier function method in the field of nonlinear system safe control was explored.