Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics

doi:10.1007/s11424-022-2093-5

Journal of Systems Science and Complexity ›› 2022, Vol. 35 ›› Issue (2): 543-558.DOI: 10.1007/s11424-022-2093-5

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Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics

WU Si, LIU Tengfei

State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110004, China

Received:2022-02-14 Revised:2022-03-21 Online:2022-04-25 Published:2022-04-13
Contact: LIU Tengfei. Email: tfliu@mail.neu.edu.cn
Supported by:
This paper was supported in part by the National Natural Science Foundation of China under Grant No. U1911401.

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WU Si, LIU Tengfei. Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics[J]. Journal of Systems Science and Complexity, 2022, 35(2): 543-558.

Safety is an essential requirement for control systems. Typically, controlled mobile robots are subject to safety constraints, to which control laws in typical forms may not be directly applicable. This paper employs barrier function to describe safety constraints, analyzes the interaction between the barrier function and the uncertain actuation dynamics by employing the ideas of interconnected systems, and proposes a quadratic-programming-based integration of the control algorithms subject to the safety constraint for a class of fully actuated systems.

Key words: Dynamic uncertainties, fully-actuated systems, safety control

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