论文标题
关于安全滑动模式控制的概念
On the Notion of Safe Sliding Mode Control
论文作者
论文摘要
在滑动模式控制的框架内，安全临界控制着眼于理论意义的两个问题：构建一个不与给定不安全状态空间集合的滑动歧管，并设计一个可靠的稳健控制器，该控制器可以将系统轨迹安全地在到达阶段安全地将系统轨迹带到到达阶段，并实施滑动运动。在此技术说明中，我们解决了这两个问题。我们介绍了相对程度一的安全滑动歧管（SSM）的概念，并表明可以从以前在文献中报道的类似Lyapunov的能量函数的梯度构造它，用于评估标称系统的稳定性和安全性。构造的SSM允许我们为不确定的非线性系统的公平类别提供强大的安全控制器。
Within the framework of Sliding Mode Control, safety critical control looks at two problems of theoretical significance: construct a sliding manifold that does not intersect a given unsafe set of the state space, and design a robust controller that safely takes the system trajectory to the manifold during the reaching phase and enforces the sliding motion. In this technical note, we address both problems. We introduce the notion of Safe Sliding Manifold (SSM) of relative degree one, and show that it is possible to construct it from the gradient of a class of Lyapunov-like energy functions, previously reported in the literature, used to asses stability and safety of a nominal system. The constructed SSM allows us providing a robust safe controller for a fair general class of uncertain nonlinear systems.
