控制理论与应用2025，Vol.42Issue(7)：1323-1332,10.DOI:10.7641/CTA.2024.30363
一类不确定非线性系统安全学习控制
Safe learning control for a class of uncertain nonlinear systems
摘要
Abstract
This paper addresses the safety control problem for nonlinear systems under nonparametric uncertainty con-ditions by proposing a control scheme based on Gaussian processes(GPs).Initially,leveraging historical data collected online,GP regression is employed to learn nonparametric uncertainty and time-varying disturbances within the nonlinear system.Subsequently,a feedback linearization control strategy is designed based on the Lyapunov theory,ensuring the con-troller's global uniform ultimate boundedness(GUUB).Secondly,considering the safety constraints,based on the feedback controller,control barrier function(CBF)is employed to minimize the control input,which obtains an optimal control input through quadratic programming(QP).Moreover,the boundedness of the closed-loop system and the forward invariance of the state safety domain are proved in a high-probability sense,respectively.Through simulation results,the effectiveness of the proposed control strategy in trajectory tracking and obstacle avoidance constraints under non-parametric uncertainty is verified.关键词
高斯过程/反馈线性化/控制障碍函数/安全控制/二次规划优化Key words
Gaussian process regression/feedback linearization/control barrier function/safety learning control/quadratic program引用本文复制引用
刘跃跃,王浩羽,吴小雨,樊启高..一类不确定非线性系统安全学习控制[J].控制理论与应用,2025,42(7):1323-1332,10.基金项目
国家自然科学基金项目(62203186,62373168),江苏省"六大人才高峰"高层次人才项目(GDZB-138)资助.Supported by the National Natural Science Foundation of China(62203186,62373168)and the Jiangsu Province"Six Talent Peak"High-Level Talent Project(GDZB-138). （62203186,62373168）
