论文标题
控制屏障功能的构建和$ c^2 $参考轨迹的态度受限态度
Construction of control barrier function and $C^2$ reference trajectory for constrained attitude maneuvers
论文作者
论文摘要
受限的态度操纵在机器人技术和航空航天中有许多应用。在我们以前的工作中，提出了解决此问题的一般框架，并提供了解决方案保证。但是，缺乏平稳的参考轨迹和低级安全关键控制器。在这项工作中，我们提出了一种基于$（3）$的Bézier曲线的$ C^2 $连续参考轨迹的新颖结构，该曲线在预定的细胞内演变，并消除了先前的停留行为。此外，我们在$（3）$上提出了一种新颖的零控制屏障功能，该功能在$（3）$的一组重叠单元上提供了安全证书，同时避免了非平滑分析。安全证书作为对控件输入的线性约束，并实时实现。提出了一种补救措施，以处理线性约束中控制输入系数消失的状态。给出数值模拟以验证所提出方法的优势。
Constrained attitude maneuvers have numerous applications in robotics and aerospace. In our previous work, a general framework to this problem was proposed with resolution completeness guarantee. However, a smooth reference trajectory and a low-level safety-critical controller were lacking. In this work, we propose a novel construction of a $C^2$ continuous reference trajectory based on Bézier curves on $ SO(3) $ that evolves within predetermined cells and eliminates previous stop-and-go behavior. Moreover, we propose a novel zeroing control barrier function on $ SO(3) $ that provides a safety certificate over a set of overlapping cells on $ SO(3) $ while avoiding nonsmooth analysis. The safety certificate is given as a linear constraint on the control input and implemented in real-time. A remedy is proposed to handle the states where the coefficient of the control input in the linear constraint vanishes. Numerical simulations are given to verify the advantages of the proposed method.
