Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 53, Issue 5, Pages 3231-3239Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2022.3170607
Keywords
Optimization; Discrete-time systems; Safety; Adaptive systems; Lyapunov methods; Dynamical systems; Time-varying systems; Control barrier functions (CBFs); discrete-time systems; optimization problem
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This article proposes the novel concepts of high-order discrete-time control barrier function (CBF) and adaptive discrete-time CBF, and their effectiveness in dealing with high relative degree constraints and improving feasibility is verified through experiments.
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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