论文标题
基于二次程序的控制综合，在时空约束和非散布干扰下
A Quadratic Program based Control Synthesis under Spatiotemporal Constraints and Non-vanishing Disturbances
论文作者
论文摘要
在本文中，我们研究了非变化干扰对固定时间稳定（FXTS）系统稳定性的影响。我们在FXTS上提出了一个新的结果，该结果允许在Lyapunov函数的时间导数中呈正项，目的是建模系统动力学中有界有界的，不变的干扰。我们表征了系统轨迹收敛的邻域以及与该邻域的收敛时间，这些邻居是从Lyapunov函数的时间导数中出现的正和负术语来表征的。然后，我们使用新的FXTS结果并制定一个二次程序（QP），该程序产生控制输入，这些输入将驱动一类非线性，控制范围系统的轨迹驱动到在控制输入约束的存在下设置的目标，并在系统动力学中进行不进行限制的，有界的，有界的干扰。我们将高速公路上的一个超车问题视为案例研究，并讨论如何在存在感应错误的情况下为所考虑的问题设置QP，以及如何决定何时开始超越操作。
In this paper, we study the effect of non-vanishing disturbances on the stability of fixed-time stable (FxTS) systems. We present a new result on FxTS, which allows a positive term in the time derivative of the Lyapunov function with the aim to model bounded, non-vanishing disturbances in the system dynamics. We characterize the neighborhood to which the system trajectories converge, as well the time of convergence to this neighborhood, in terms of the positive and negative terms that appear in the time derivative of the Lyapunov function. Then, we use the new FxTS result and formulate a quadratic program (QP) that yields control inputs which drive the trajectories of a class of nonlinear, control-affine systems to a goal set in the presence of control input constraints and non-vanishing, bounded disturbances in the system dynamics. We consider an overtaking problem on a highway as a case study, and discuss how to setup the QP for the considered problem, and how to make a decision on when to start the overtake maneuver, in the presence of sensing errors.
