Stochastic Control Barrier Function Based Fixed-Time Safe Attitude Control on SO(3)
摘要
This paper presents a stochastic control strategy for fixed-time safe attitude control of rigid bodies on SO(3), addressing stochastic disturbances while ensuring safety constraints are met with probabilistic guarantees. A stochastic fixed-time control Lyapunov function (SFxTCLF) is designed to ensure that the attitude error converges to zero in probability with fixed-time stability guarantees. To enforce safety constraints on attitude and angular velocity, stochastic control barrier functions are formulated and combined with the SFxTCLF as a quadratic programming framework, which synthesizes an optimal control input that satisfies both stability and safety conditions simultaneously while respecting actuator limits. Extensive numerical simulations validate the efficacy and resilience of the proposed approach, demonstrating superior convergence speed and safety enforcement compared to existing stochastic attitude control methods.