无人机系统安全控制研究综述: 控制障碍函数
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作者单位:

河南大学 人工智能学院,郑州 450046

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E-mail: zhouyi@henu.edu.cn.

中图分类号:

TP273

基金项目:

国家自然科学基金项目(62176088,62303159).


Review of safety control research in unmanned aerial vehicle systems: Control barrier functions
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School of Artificial Intelligence,Henan University,Zhengzhou 450046,China

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    摘要:

    近年来,控制障碍函数因其具有实时性强、兼容性强、约束性强、鲁棒性强等优势,已成为无人机安全领域的一个重要研究分支.由于无人机系统多以非线性控制系统为主,且保障无人机飞行安全至关重要,首先以非线性控制系统为基础,展开介绍控制李雅普诺夫函数、控制障碍函数、安全屏障证书的基本概念;然后围绕基于控制障碍函数构成的二次规划控制器差异的角度梳理其在无人机系统中的应用现状,多无人机系统相比单无人机系统拥有更高的任务效率和适应性,因此进一步梳理集中式和分散式两种类型安全屏障证书在成对无人机中的应用;最后针对当前控制障碍函数在无人机系统应用中存在的技术难题进行分析,并提出未来需要进一步发展的研究方向.

    Abstract:

    In recent years, control barrier functions have become an important research branch in the field of unmanned aerial vehicle(UAV) safety due to their advantages in strong real-time performance, strong compatibility, strong constraint handling capability, and strong robustness. As UAV systems are mainly nonlinear control systems, ensuring the safety of UAV flights is crucial. This article first introduces the basic concepts of control Lyapunov functions, control barrier functions, and safety barrier certificates based on nonlinear control systems. Then, the application status of quadratic programming controllers based on control barrier functions in UAV systems is reviewed. Multi-UAV systems have higher task efficiency and adaptability than single UAV systems, so this article further reviews the application of centralized and decentralized safety barrier certificates in paired UAV systems. Finally, this article analyzes the technical challenges of applying control barrier functions in UAV systems and proposes future research directions that need to be further developed.

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姚绍杰,闫帅明,张浩,等.无人机系统安全控制研究综述: 控制障碍函数[J].控制与决策,2024,39(10):3169-3180

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  • 在线发布日期: 2024-08-29
  • 出版日期: 2024-10-20
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