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Volume 11 Issue 12
Dec.  2024

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2024  >  11(12): 2487-2496
H. Wang, J. Peng, F. Zhang, and  Y. Wang,  “High-order control barrier function-based safety control of constrained robotic systems: An augmented dynamics approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 12, pp. 2487–2496, Dec. 2024. doi: 10.1109/JAS.2024.124524
Citation: H. Wang, J. Peng, F. Zhang, and  Y. Wang,  “High-order control barrier function-based safety control of constrained robotic systems: An augmented dynamics approach,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 12, pp. 2487–2496, Dec. 2024. doi: 10.1109/JAS.2024.124524
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High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems: An Augmented Dynamics Approach

doi: 10.1109/JAS.2024.124524
Funds:  This work was supported in part by the National Natural Science Foundation of China (62273311, 61773351) and Henan Provincial Science Foundation for Distinguished Young Scholars (242300421051)
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    Abstract
  • Although constraint satisfaction approaches have achieved fruitful results, system states may lose their smoothness and there may be undesired chattering of control inputs due to switching characteristics. Furthermore, it remains a challenge when there are additional constraints on control torques of robotic systems. In this article, we propose a novel high-order control barrier function (HoCBF)-based safety control method for robotic systems subject to input-output constraints, which can maintain the desired smoothness of system states and reduce undesired chattering vibration in the control torque. In our design, augmented dynamics are introduced into the HoCBF by constructing its output as the control input of the robotic system, so that the constraint satisfaction is facilitated by HoCBFs and the smoothness of system states is maintained by the augmented dynamics. This proposed scheme leads to the quadratic program (QP), which is more user-friendly in implementation since the constraint satisfaction control design is implemented as an add-on to an existing tracking control law. The proposed closed-loop control system not only achieves the requirements of real-time capability, stability, safety and compliance, but also reduces undesired chattering of control inputs. Finally, the effectiveness of the proposed control scheme is verified by simulations and experiments on robotic manipulators.

     

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    Highlights

    • High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems: An Augmented Dynamics Approach
    • A novel high-order control barrier function (HoCBF)-based safety control method is proposed for robotic systems subject to input-output constraints, which can maintain the desired smoothness of system states and reduce undesired chattering vibration in the control torque
    • The augmented dynamics are introduced into the HoCBF by constructing its output as the control input of the robotic system, so that the constraint satisfaction is facilitated by the HoCBF and the smoothness of system states is maintained by the augmented dynamics
    • The proposed quadratic program (QP) control framework is more user-friendly in implementation since the constraint satisfaction control design is implemented as an add-on to an existing tracking control law
    • The proposed closed-loop control system not only achieves the requirements of real-time capability, stability, safety and compliance, but also reduces undesired chattering of control inputs
    • The effectiveness of the proposed control scheme is verified by simulations and experiments on robotic manipulators

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