标题： 关于安全滑动模式控制的概念 显示英文标题

标题： On the Notion of Safe Sliding Mode Control

摘要： 在滑模控制框架下，安全关键控制关注两个具有理论意义的问题：构建一个不与状态空间中给定的不安全集相交的滑动面，并设计一个鲁棒控制器，在到达阶段安全地将系统轨迹带入滑动面并强制滑动运动。 在本技术注释中，我们解决了这两个问题。 我们引入了一阶相对度的安全滑动面（SSM）的概念，并表明可以从一类之前文献中报道的类似李雅普诺夫的能量函数的梯度构造该滑动面，这些函数用于评估名义系统的稳定性和安全性。 所构造的SSM允许为一类相当普遍的不确定非线性系统提供一个鲁棒的安全控制器。 显示英文摘要

摘要： Within the framework of Sliding Mode Control, safety critical control looks at two problems of theoretical significance: construct a sliding manifold that does not intersect a given unsafe set of the state space, and design a robust controller that safely takes the system trajectory to the manifold during the reaching phase and enforces the sliding motion. In this technical note, we address both problems. We introduce the notion of Safe Sliding Manifold (SSM) of relative degree one, and show that it is possible to construct it from the gradient of a class of Lyapunov-like energy functions, previously reported in the literature, used to asses stability and safety of a nominal system. The constructed SSM allows us providing a robust safe controller for a fair general class of uncertain nonlinear systems.