二阶非线性系统安全临界控制设计及其在双足机器人中的应用

2023 6th International Symposium on Autonomous Systems (ISAS) Pub Date : 2023-06-23 DOI:10.1109/ISAS59543.2023.10164552

Xiaoyu Wang, Yi Dong

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摘要

本文研究了一类二阶非线性系统的安全临界控制问题，并将其应用于平面双足机器人系统。我们的设计由跟踪控制器和安全控制器组成，能够初步保证系统的安全性，并在参考信号安全的情况下，实现对动态非线性参考信号的渐近跟踪。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Safety Critical Control Design of Second-order Nonlinear System and Its Application in Biped Robot

This paper addresses a safety critical control problem for a second-order nonlinear system, and is then applied into a planar biped robotic system. Our design, composed of a tracking controller and a safety controller, is capable of preliminarily guaranteeing the safety of the system and achieving the asymptotic tracking of a dynamic nonlinear reference signal if the reference is safe.

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2023 6th International Symposium on Autonomous Systems (ISAS)

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