Guaranteed Stabilization and Safety of Nonlinear Systems via Sliding Mode Control

被引：2
|
作者：
Ding, Fan [1 ]
Ke, Jin [1 ]
Jin, Wanxin [2 ]
He, Jianping [1 ]
Duan, Xiaoming [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Key Lab Syst Control & Informat Proc, Shanghai 200240, Peoples R China
[2] Arizona State Univ, Sch Engn Matter Transport & Energy, Tempe, AZ 85287 USA
来源：
IEEE CONTROL SYSTEMS LETTERS | 2023年 / 7卷
关键词：
Control barrier functions; control Lyapunov functions; sliding mode control;
D O I：
10.1109/LCSYS.2023.3329882
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We study simultaneous stabilization and safety for nonlinear affine systems by unifying the control Lyapunov function (CLF) and control barrier function (CBF). With the sliding mode control, we develop a CLF-CBF control strategy in joint and switching forms based on a general and a particular class of sliding mode manifolds, respectively. Then, the sufficient conditions on the parameters that achieve the stabilization and safety objectives simultaneously are provided. These conditions are less conservative than the conditions required by the existing quadratic programming methods, where both CLF and CBF constraints need to be satisfied for all time. Finally, numerical simulations are conducted to verify the effectiveness and superiority of our proposed method.
引用
收藏
页码：3367 / 3372
页数：6
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