乗法的不確かさを持つ適応システムのためのロバスト安全集合アルゴリズム
Safe Adaptation with Multiplicative Uncertainties Using Robust Safe Set Algorithm
パラメータ不確かさを持つ適応制御系に対し、集合ベースの安全制約とスカラー安全指数を用いて、適応中も安全性を保証する制御手法を提案し、2リンクマニピュレータのシミュレーションで有効性を示した。
著者: Charles Noren, Weiye Zhao, Changliu Liu
分類: cs.RO
原文アブストラクト
Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety guarantees for such systems continue to be of interest. We propose a novel robust safe control methodology that uses set-based safety constraints to make a robotic system with dynamical uncertainties safely adapt and operate in its environment. The method consists of designing a scalar energy function (safety index) for an adaptive system with parametric uncertainty and an optimization-based approach for control synthesis. Simulation studies on a two-link manipulator are conducted and the results demonstrate the effectiveness of our proposed method in terms of generating provably safe control for adaptive systems with parametric uncertainty.
