Affiliation:
1. School of Electrical and Information Engineering Zhengzhou University Zhengzhou China
2. School of Control Science and Engineering Shandong University Jinan China
3. College of Electrical and Information Engineering Hunan University Changsha China
Abstract
SummaryThis study focuses on the problems of safety control and stabilization for time‐varying nonlinear systems in the presence of time‐varying full‐state constraints. High‐order control barrier functions (HoCBFs) without the assumption of forward completeness are introduced to prevent high‐relative degree constraint violations. The activated HoCBFs, which determine the dynamic sub‐safe sets, are proposed to indicate that the state constraints are already or about to be violated. Subsequently, the HoCBFs‐based controller is designed to obtain the admissible control set by utilizing the quadratic programming (QP) with activated HoCBFs conditions to synthesize the nominal controller. An explicit analytical expression is provided for the HoCBFs‐based controller. The input‐to‐state stable (ISS) property of the closed‐loop system under the proposed controller is investigated to ensure that all closed‐loop states remain bounded and achieve asymptotic tracking without violation of the constraint. Moreover, a Lyapunov‐like constraint is added to the HoCBFs‐based QP problem such that the solvability of the QP problem is a sufficient condition for the system ISS. The effectiveness of the proposed HoCBFs‐based control method for time‐varying nonlinear systems is illustrated using a numerical example.
Funder
National Natural Science Foundation of China
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering
Cited by
4 articles.
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