论文标题
多率控制设计利用控制屏障功能和模型预测控制策略
Multi-Rate Control Design Leveraging Control Barrier Functions and Model Predictive Control Policies
论文作者
论文摘要
在本文中，我们为安全关键系统提供了多率控制体系结构。我们考虑以不同频率运行的高级规划师和一个低级控制器。这种多速率行为是通过分段非线性模型来描述的，该模型在连续和离散的级别上演变。首先，我们提供足够的条件，以保证闭环系统的递归约束满意度。之后，我们提出了一种控制设计方法，该方法利用控制屏障功能（CBF）进行低级控制和模型预测控制（MPC）策略，以进行高级计划。控制屏障功能是使用完整的非线性动力学模型设计的，MPC基于简化的计划模型。当非线性系统是控制仿射并且高级计划模型是线性的时，通过解决层次结构每个级别的凸优化问题来计算控制动作。最后，我们在模拟示例上显示了拟议策略的有效性，在模拟示例中，低级别控制动作的频率高于高级命令。
In this paper we present a multi-rate control architecture for safety critical systems. We consider a high level planner and a low level controller which operate at different frequencies. This multi-rate behavior is described by a piecewise nonlinear model which evolves on a continuous and a discrete level. First, we present sufficient conditions which guarantee recursive constraint satisfaction for the closed-loop system. Afterwards, we propose a control design methodology which leverages Control Barrier Functions (CBFs) for low level control and Model Predictive Control (MPC) policies for high level planning. The control barrier function is designed using the full nonlinear dynamical model and the MPC is based on a simplified planning model. When the nonlinear system is control affine and the high level planning model is linear, the control actions are computed by solving convex optimization problems at each level of the hierarchy. Finally, we show the effectiveness of the proposed strategy on a simulation example, where the low level control action is updated at a higher frequency than the high level command.
