通过使用控制屏障功能作为安全过器,为轮式移动机器人提供安全的规定的时间控制器
Ali Alavi Nasab1, Roozbeh Badiei2, Mohammad Hassan Asemani1
1School of Electrical and Computer Engineering, Shiraz University, Shiraz, Iran.
ISA transactions
|May 9, 2025
概括
这项研究引入了一种新的控制系统,可以在一定的时间内精确地引导轨迹到目标点. 它通过防止碰撞并保持系统稳定性来确保安全,无论起始条件如何.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 应用数学 应用数学 应用数学
背景情况:
- 在特定的时间框架内实现精确的轨迹控制是机器人和自主系统的一个重大挑战.
- 确保系统安全并防止轨迹执行过程中的碰撞对于现实应用来说至关重要.
研究的目的:
- 设计和验证一个控制方法,保证轨迹在用户定义的时间内趋同到所需的平衡点.
- 实施使用控制屏障功能 (CBF) 的安全机制,以防止与预定义的不安全区域发生碰撞.
- 为了确保系统在规定的时间之外在平衡点保持稳定性和误差收.
主要方法:
- 用于轨迹跟踪的规定的时间控制器的设计.
- 整合一个比例控制器,用于在收后的错误维护.
- 控制屏障功能 (CBF) 的应用,以确保安全和避免碰撞.
- 在各种场景中进行广泛的模拟,以验证控制方案.
主要成果:
- 拟议的控制器在用户定义的规定的时间内成功实现了轨道趋同到平衡点.
- 该系统表现出强性,无论初始条件和所选择的规定的时间,都达到平衡点.
- 控制屏障功能有效地防止系统进入预定义的不安全区域,确保安全运行.
- 比例控制器在规定的时间之外在平衡点保持了系统错误.
结论:
- 开发的控制策略有效地将规定的时间轨迹跟踪与通过CBF的保证安全相结合.
- 该方法为需要在有限时间内精确和安全的轨迹控制的应用提供了可靠的解决方案.
- 模拟结果证实了在各种操作场景中拟议的控制系统的有效性和稳定性.
相关概念视频
01:26PD Controller: Design
146
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
146
01:28The Cell Cycle Control System
2.5K
The cell cycle regulation directs how a cell proceeds from one phase to the next and begins mitosis. The cell cycle control system includes intracellular regulatory molecules and external triggers. They provide "stop" or "advance" signals and operate at specific cell cycle stages termed checkpoints to ensure that a particular process is completed before the cell advances to the next phase.
Cyclins and cyclin-dependent kinases (Cdks) are the primary cell cycle regulators and...
Cyclins and cyclin-dependent kinases (Cdks) are the primary cell cycle regulators and...
2.5K
01:19PID Controller
82
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
82