ロバスト適応安全制御器の合成と検証
Synthesis and verification of robust-adaptive safe controllers
未知の一定パラメータを持つシステムに対し、ロバスト適応制御バリア関数を用いて安全制御器を合成・検証する凸最適化手法を提案し、複数の多項式システムで有効性を示した。
著者: Simin Liu, Kai S. Yun, John M. Dolan, Changliu Liu
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe controllers for systems with constant, unknown parameters. In particular, we use robust-adaptive control barrier functions (raCBFs) to achieve safety. We develop new theories and techniques using sum-of-squares that enable us to pose synthesis and verification as a series of convex optimization problems. In our experiments, we show that our algorithms are general and scalable, applying them to three different polynomial systems of up to moderate size (7D). Our raCBFs are currently the most effective way to guarantee safety for uncertain systems, achieving 100% safety and up to 55% performance improvement over a robust baseline.
