烟台大学学报（自然科学与工程版）2024，Vol.37Issue(3)：262-272,11.DOI:10.13951/j.cnki.37-1213/n.230414
具有未知参数的拉格朗日系统的安全跟踪控制
Safe Tracking Control of Lagrangian Systems with Unknown Parameters
摘要
Abstract
A discussion is presented on safe tracking control problem of Lagrangian systems with unknown parame-ters.Firstly,a tracking controller is designed for trajectory tracking by the backstepping method.Then an adaptive control barrier function is constructed to design the safety controller,such that the system state is far from the boundary of the safety set.Based on the tracking controller and adaptive control barrier function constraints,the quadratic program is generated,and further a safety tracking controller is designed to make the system track the ref-erence signal as closely as possible under the premise of safety.The simulation results are given to illustrate the ef-fectiveness of the proposed method.关键词
拉格朗日系统/控制障碍函数:二次规划/安全/跟踪控制Key words
Lagrangian system/control barrier function/quadratic program/safety/tracking control分类
数理科学引用本文复制引用
李佳音,张会..具有未知参数的拉格朗日系统的安全跟踪控制[J].烟台大学学报（自然科学与工程版）,2024,37(3):262-272,11.基金项目
国家自然科学基金资助项目(61703359,62073275). （61703359,62073275）
