论文标题
在硬和软输出约束下的漏斗控制
Funnel Control Under Hard and Soft Output Constraints
论文作者
论文摘要
本文提出了在随着时间变化的硬和软输出约束下的漏斗控制方法。首先，设计了一种在线漏斗计划计划，该计划生成一个始终尊重硬（安全性）约束的约束渠道，并且仅在与硬约束不冲突时才能满足软（性能）约束。接下来，使用规定的性能控制方法来设计一个可靠的低复杂性漏斗控制器，用于不确定的非线性欧拉 - 拉格朗日系统，以使输出始终保持在计划的约束一致的汇合金中。最后，通过模拟示例的移动机器人在盒子约束的安全空间中跟踪移动对象的模拟示例进行了验证。
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety) constraints, and soft (performance) constraints are met only when they are not conflicting with the hard constraints. Next, the prescribed performance control method is employed for designing a robust low-complexity funnel-based controller for uncertain nonlinear Euler-Lagrangian systems such that the outputs always remain within the planned constraint consistent funnels. Finally, the results are verified with a simulation example of a mobile robot tracking a moving object while staying in a box-constrained safe space.
