Sampled-Data-Based Robust Safety Control of Switched Systems and Its Application to Vehicle Driving
提出一种基于采样数据的单障碍函数方法，确保存在未知扰动的切换系统在零阶保持控制器下的安全性，并放宽了传统要求所有子系统均安全的条件，最后在车辆驾驶中验证了方法。
This article is concerned with the sampled-data-based robust safety control (SDRSC) problem for switched systems. A novel sampled-data-based single barrier function (SDSBF) method is proposed to ensure the safety of switched systems with unknown disturbances under zero-order-hold (ZOH) controllers. The SDSBF method permits subsystems to lack safety over the whole safe set, which relaxes the traditional requirement that all subsystems are safe. Also, the influence on safety of switched systems caused by the difference of sampling instant and switching instant is analyzed, and a switching signal with dwell time is introduced to quantify and estimate this influence. Furthermore, both safety and stability of switched systems under ZOH controllers are obtained by the union of SDSBF and single Lyapunov function (SLF), without requiring the safety and stability for subsystems. To find SDSBF and SLF, an executable condition, including a switching law with dwell time, is established based on convex combination techniques, avoiding the Zeno phenomenon. Finally, an application on vehicle driving is provided to verify the proposed methods.