Human-like constraint adaptive model prediction control method with risk adjustable control barrier function

The invention relates to a human-like constrained adaptive model prediction control method with a risk-adjustable control barrier function, and the method comprises the steps: combining a constrained adaptive MPC with a risk-adjustable CBF to avoid collision, adding constraint relaxation in the MPC-CBF, and adjusting the attenuation coefficient of the risk-adjustable CBF for different obstacles; meanwhile, in combination with a humanoid MPC and by using an event triggering mechanism, a humanoid constrained adaptive MPC control strategy with a risk-adjustable CBF is constructed; ship control and risk avoidance are carried out through a constructed control strategy, if general navigation risks are detected, attenuation coefficients of the risk-adjustable CBF are adjusted for different obstacles, if urgent dangers are detected, acceptable control input is obtained through constraint relaxation, and if the risk-adjustable CBF is in a safe state, the risk-adjustable CBF is controlled. And if so, adopting the human