摘要
面向系统状态安全的分析与控制,是目前控制领域内的热点研究之一.针对一类具有可行状态集的动态系统,本文深入讨论障碍函数与状态安全判据之间的相关性,通过设计一种新颖的障碍函数,提出了基于障碍函数的状态安全判据,该状态安全判据可用于此类系统的安全分析、诊断与控制.受启发于倒数障碍函数与零障碍函数,本文设计了一类非正障碍函数,并在此基础上提出了面向可行状态集的动态系统状态安全判据,通过验证该可行状态集的前向不变性,从而保证系统的安全性;根据非正障碍函数,建立了控制障碍函数,以此设计面向动态控制系统的状态安全控制器,保障系统的运行安全.上述理论与方法在一类连续搅拌釜反应器的安全运行控制中得以应用,通过仿真验证,证明了理论与方法的有效性,实现了基于障碍函数的安全控制理论在过程控制中的首次尝试.
The analysis and control of system state safety are a research hotspot in the field of control. This article has thoroughly investigated some issues related to safety criteria with application to the safety analysis,diagnosis, and safety control of a class of dynamical systems with their unique set of available states via a new notion of barrier functions. Inspired by reciprocal barrier functions and zeroing barrier functions, a type of nonpositive barrier function(NPBF) is designed and the safety criteria are proposed, guaranteeing that the unique set of available states is forward-invariant to ensure system safety at all times. Then, the control barrier function is established based on NPBFs for a class of dynamical control systems and used to design the safety controller.Conclusively, this is a first-of-its-kind study to apply safety criteria and control barrier functions to safeguard a class of continuously stirred tank reactors.
作者
朱哲人
张新民
柴毅
宋执环
Zheren ZHU;Xinmin ZHANG;Yi CHAI;Zhihuan SONG(College of Control Science and Engineering,Zhejiang University,Hangzhou 310027,China;State Key Laboratory of Industrial Control Technology,Hangzhou 310027,China;School of Automation,Chongqing University,Chongqing 400044,China)
出处
《中国科学：信息科学》
CSCD
北大核心
2022年第10期1853-1869,共17页
Scientia Sinica(Informationis)
基金
国家自然科学基金重点项目(批准号:61933013,61633005)资助。
关键词
非正障碍函数
动态系统
状态安全控制
安全性判据
控制障碍函数
non-positive barrier function
dynamical systems
state-safety control
safety criteria
control barrier function
