Optimization-Based Controllers for Passivity and Safety Constraints

• 成果类型: Article
• 署名作者: Sweatland, Hannah M.; Isaly, Axton; Griffis, Emily J.; Dixon, Warren E.
• 署名单位: State University System of Florida; University of Florida; National Academies of Sciences, Engineering & Medicine; State University System of Florida; University of Florida
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3513894
• 发表日期: 2025
• 关键词: Control barrier functions; mechanical systems; interconnection; stabilization

摘要

Though historically regarded as unrelated concepts, passivity-based control (PBC) and control barrier functions (CBFs) are methods used to establish the safety of control systems. In this article, an optimization-based PBC technique is developed which can be combined with CBF-based methods to find a set of controllers that each render a nonlinear control system energetically passive while also adhering to state constraints necessary for safety. Borrowing concepts from literature developed for multiple CBFs, passivity and safety objectives are simultaneously achieved through the use of a pointwise-optimal controller. Simulation results demonstrate the closed-loop system is passive with respect to an external disturbance despite a nonpassive nominal control input while also satisfying state constraints required for safety.