構成的安全臨界制御：部分フィードバック線形化可能系に対する制御バリア関数の合成
Constructive Safety-Critical Control: Synthesizing Control Barrier Functions for Partially Feedback Linearizable Systems
部分フィードバック線形化可能な系において、出力上の安全制約を全次数の制御バリア関数に拡張する手法を提案し、クアッドロータの実験で検証した。
著者: Max H. Cohen, Ryan K. Cosner, Aaron D. Ames
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between partial feedback linearization and CBF synthesis. We illustrate that when a control affine system is input-output linearizable with respect to a smooth output function, then, under mild regularity conditions, one may extend any safety constraint defined on the output to a CBF for the full-order dynamics. These more general results are specialized to robotic systems where the conditions required to synthesize CBFs simplify. The CBFs constructed from our approach are applied and verified in simulation and hardware experiments on a quadrotor.
