動的環境における入力遅延を考慮した安全臨界制御
Safety-Critical Control with Input Delay in Dynamic Environment
環境制御バリア関数を導入し、入力遅延があっても動的環境で安全性を保証する制御フレームワークを提案。適応クルーズコントロールとセグウェイで有効性を実証した。
著者: Tamas G. Molnar, Adam K. Kiss, Aaron D. Ames, Gábor Orosz
分類: eess.SY, cs.RO, cs.SY, math.DS
原文アブストラクト
Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper develops a framework for safety-critical control in dynamic environments, by establishing the notion of environmental control barrier functions (ECBFs). The framework is able to guarantee safety even in the presence of input delay, by accounting for the evolution of the environment during the delayed response of the system. The underlying control synthesis relies on predicting the future state of the system and the environment over the delay interval, with robust safety guarantees against prediction errors. The efficacy of the proposed method is demonstrated by a simple adaptive cruise control problem and a more complex robotics application on a Segway platform.
