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Updated: Jun 4, 2025

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安全控制器设计用于自行车机器人的循环运动,使用控制Lyapunov功能和控制屏障功能.

Lei Guo1, Hongyu Lin2, Yuan Song1

  • 1School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China.

ISA transactions
|December 25, 2024
PubMed
概括

这项研究介绍了一种新的安全控制器,用于自行车机器人执行循环运动. 控制器通过使用二次编程 (QP) 集成控制莱普诺夫函数 (CLF) 和控制屏障函数 (CBF) 约束来提高安全性并减少工作量.

关键词:
这是一个自行车机器人.循环运动是一个循环运动.控制 Lyapunov 的功能功能.控制屏障功能 控制屏障功能动力学模型模型的动力学模型平方编程二次编程

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