论文标题
高质量的随机对照Lyapunov和屏障功能
High-Relative Degree Stochastic Control Lyapunov and Barrier Functions
论文作者
论文摘要
我们引入了高层次的随机控制Lyapunov函数和屏障功能，作为确保系统渐近稳定性的一种手段，并在非线性随机系统上纳入了依赖状态的高度相对程度安全约束。我们提出的配方还为随机系统的控制Lyapunov和障碍功能提供了对现有文献的概括。使用基于控制Lyapunov和屏障功能的约束二次程序进行评估控制策略。我们提出的控制设计通过对相对程度2系统（2维汽车导航）和相对程度4系统（带有弹性执行器的两链接摆）的模拟实验进行了验证。
We introduce High-Relative Degree Stochastic Control Lyapunov functions and Barrier Functions as a means to ensure asymptotic stability of the system and incorporate state dependent high relative degree safety constraints on a non-linear stochastic systems. Our proposed formulation also provides a generalisation to the existing literature on control Lyapunov and barrier functions for stochastic systems. The control policies are evaluated using a constrained quadratic program that is based on control Lyapunov and barrier functions. Our proposed control design is validated via simulated experiments on a relative degree 2 system (2 dimensional car navigation) and relative degree 4 system (two-link pendulum with elastic actuator).
