典型文献
Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics
文献摘要：
Safety is an essential requirement for control systems.Typically,controlled mobile robots are subject to safety constraints,to which control laws in typical forms may not be directly applicable.This paper employs barrier function to describe safety constraints,analyzes the interaction between the barrier function and the uncertain actuation dynamics by employing the ideas of interconnected systems,and proposes a quadratic-programming-based integration of the control algorithms subject to the safety constraint for a class of fully actuated systems.
文献关键词：
中图分类号：
作者姓名：
WU Si;LIU Tengfei
作者机构：
State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110004,China
文献出处：
引用格式：
[1]WU Si;LIU Tengfei-.Safety Control of a Class of Fully Actuated Systems Subject to Uncertain Actuation Dynamics)[J].系统科学与复杂性学报（英文版）,2022(02):543-558
A类：
B类：
Safety,Control,Class,Fully,Actuated,Systems,Subject,Uncertain,Actuation,Dynamics,essential,requirement,systems,Typically,controlled,mobile,robots,are,subject,safety,constraints,which,laws,typical,forms,may,not,directly,applicable,This,paper,employs,barrier,function,describe,analyzes,interaction,between,uncertain,actuation,dynamics,by,employing,ideas,interconnected,proposes,quadratic,programming,integration,algorithms,class,fully,actuated
AB值：
0.708748
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