标题： 通过控制障碍函数进行具有状态约束的反馈优化 显示英文标题

标题： Feedback Optimization with State Constraints through Control Barrier Functions

摘要： 最近，关于称为反馈优化的一类方法的研究出现了激增。 这些是将控制系统状态引导到作为优化问题解出现的平衡点的方法。 尽管该主题的文献日益增多，但始终如一地强制状态约束的重要问题仍未得到解决。 在本工作中，我们提出了第一个强制状态约束的反馈优化方法。 该方法结合了一类称为安全梯度流的动力学与高阶控制障碍函数。 我们提供了我们提出的控制器的若干结果，包括良好定义性保证、随时约束满足保证、闭环平衡点与优化问题临界点之间的等价性，以及最优值的局部渐近稳定性。 显示英文摘要

摘要： Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the growing literature on the topic, the important problem of enforcing state constraints at all times remains unaddressed. In this work, we present the first feedback-optimization method that enforces state constraints. The method combines a class of dynamics called safe gradient flows with high-order control barrier functions. We provide a number of results on our proposed controller, including well-posedness guarantees, anytime constraint-satisfaction guarantees, equivalence between the closed-loop's equilibria and the optimization problem's critical points, and local asymptotic stability of optima.