非線形安全臨界最適制御に対する確率的保証
Probabilistic Guarantees for Nonlinear Safety-Critical Optimal Control
ブラックボックスリスク検証を用いて、非線形安全臨界最適制御器の最適性・再帰的実行可能性・最大実行時間に対する確率的保証を与える3つのアルゴリズムを提案し、ハードウェアにも適用可能であることを示した。
著者: Prithvi Akella, Wyatt Ubellacker, Aaron D. Ames
分類: math.OC, cs.RO, cs.SY, eess.SY
原文アブストラクト
Leveraging recent developments in black-box risk-aware verification, we provide three algorithms that generate probabilistic guarantees on (1) optimality of solutions, (2) recursive feasibility, and (3) maximum controller runtimes for general nonlinear safety-critical finite-time optimal controllers. These methods forego the usual (perhaps) restrictive assumptions required for typical theoretical guarantees, e.g. terminal set calculation for recursive feasibility in Nonlinear Model Predictive Control, or convexification of optimal controllers to ensure optimality. Furthermore, we show that these methods can directly be applied to hardware systems to generate controller guarantees on their respective systems.
