Discrete-Time Control Barrier Function: High-Order Case and Adaptive Case.
IEEE Trans Cybern
; 53(5): 3231-3239, 2023 May.
Article
em En
| MEDLINE
| ID: mdl-35580102
ABSTRACT
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.
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Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Ano de publicação:
2023
Tipo de documento:
Article