High-Order Control Barrier Function-Based Safety Control of Constrained Robotic Systems: An Augmented Dynamics Approach

• Published in: IEEE/CAA journal of automatica sinica Vol. 11; no. 12; pp. 2487 - 2496
• Main Authors: Wang, Haijing, Peng, Jinzhu, Zhang, Fangfang, Wang, Yaonan
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.12.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); College of Electrical and Information Engineering,Hunan University,Changsha 410082,China; National Engineering Laboratory for Robot Visual Perception and Control,Hunan University,Changsha 410082,China%School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China; School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China%School of Electrical and Information Engineering,Zhengzhou University,Zhengzhou 450001,China; National Engineering Laboratory for Robot Visual Perception and Control,Hunan University,Changsha 410082,China
• Subjects: Aerospace electronics; Augmented dynamics; Closed loops; Constraints; Control methods; Control systems; Control systems design; Control theory; Feedback control; high-order control barrier function (HoCBF); input-output constraints; Mobile robots; Pallets; quadratic program (QP); Quadratic programming; Real time; Robot arms; Robot control; Robot kinematics; robotic systems; Robotics; Robots; Safety; Smoothness; Torque; Tracking control; Vibration; Augmented dynamics; quadratic program(QP); high-order control barrier function(HoCBF); robotic systems; input-output constraints
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2024.124524

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.