Performance planning control for switched systems: An iterative control barrier function method

초록

This paper proposes a novel performance planning control for switched systems, which utilizes the control barrier function (CBF) to plan and ensure the expected system performance. First, we describe the system performance planning as a safe set constraint of tracking error, and use the CBF method to ensure the constraint. Then, considering that iterative learning has the advantage of continuous improvement, we make the performance planning progressive by constructing iterative CBF. Iteration will continuously reduce constraint boundaries and then tracking errors. Further, we present an integrated iterative learning control-performance planning control (ILC-PPC) controller, in which ILC is to implement basic tracking control and PPC is to ensure the forward invariance of the safe set. Furthermore, the proof methods for forward invariance, tracking error convergence, and system output boundedness are provided, respectively. Finally, the effectiveness of the method is verified through the numerical simulations. (c) 2025 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

키워드