Explicit Solution of Tunable Input-to-State Safe-Based Controller Under High-Relative-Degree Constraints
成果类型：
Article
署名作者：
Wei, Yan; Feng, Yu; Ou, Linlin; Wang, Yueying; Yu, Xinyi
署名单位：
Zhejiang University of Technology; Shanghai University
刊物名称：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
ISSN/ISSBN：
0018-9286
DOI：
10.1109/TAC.2025.3604661
发表日期：
2026
关键词：
摘要：
This article investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization problem with and without a nominal controller is first provided, making it unnecessary to solve the quadratic program problem online and facilitating the analysis. Further, the tunable input-to-state safety (ISSf) framework is investigated to accommodate systems with high relative degrees, and a new tunable function in conjunction with HOCBF is provided. When combined with the existing ISSf theorem, produces controllers for constrained nonlinear systems with external disturbances. The theoretical results are proven and supported by numerical simulations.