论文标题
动态定义的控制定律的积分控制屏障函数
Integral Control Barrier Functions for Dynamically Defined Control Laws
论文作者
论文摘要
本文介绍了积分控制屏障函数（I-CBF），以此作为实现非线性系统安全至关重要的整体控制的一种手段。重要的是，I-CBF允许在单个框架中对状态约束和输入范围进行整体编码。我们通过将它们应用于动态定义的跟踪控制器来证明这一点，从而在状态下执行安全性，并通过微创的I-CBF控制器作为二次程序框架进行输入。
This paper introduces integral control barrier functions (I-CBFs) as a means to enable the safety-critical integral control of nonlinear systems. Importantly, I-CBFs allow for the holistic encoding of both state constraints and input bounds in a single framework. We demonstrate this by applying them to a dynamically defined tracking controller, thereby enforcing safety in state and input through a minimally invasive I-CBF controller framed as a quadratic program.
