自律システムの安全臨界制御：低次元モデルと制御バリア関数
Safety-Critical Control for Autonomous Systems: Control Barrier Functions via Reduced-Order Models
複雑な高次元ロボットの安全制御を、単純な低次元モデルから制御バリア関数を構成して実現する手法を解説したチュートリアル。
著者: Max H. Cohen, Tamas G. Molnar, Aaron D. Ames
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of reduced-order models in robotics, this paper presents a tutorial on constructive safety-critical control via reduced-order models and control barrier functions (CBFs). To this end, we provide a unified formulation of techniques in the literature that share a common foundation of constructing CBFs for complex systems from CBFs for much simpler systems. Such ideas are illustrated through formal results, simple numerical examples, and case studies of real-world systems to which these techniques have been experimentally applied.
