制御制約定式化による安全性と性能の協調最適化
Cooptimizing Safety and Performance with a Control-Constrained Formulation
安全性を状態制約から等価な制御制約に変換し、動的計画法で解ける制御制約付き最適制御問題として定式化することで、非線形システムの安全性と性能を両立させる手法を提案した。
著者: Hao Wang, Adityaya Dhande, Somil Bansal
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Autonomous systems have witnessed a rapid increase in their capabilities, but it remains a challenge for them to perform tasks both effectively and safely. The fact that performance and safety can sometimes be competing objectives renders the cooptimization between them difficult. One school of thought is to treat this cooptimization as a constrained optimal control problem with a performance-oriented objective function and safety as a constraint. However, solving this constrained optimal control problem for general nonlinear systems remains challenging. In this work, we use the general framework of constrained optimal control, but given the safety state constraint, we convert it into an equivalent control constraint, resulting in a state and time-dependent control-constrained optimal control problem. This equivalent optimal control problem can readily be solved using the dynamic programming principle. We show the corresponding value function is a viscosity solution of a certain Hamilton-Jacobi-Bellman Partial Differential Equation (HJB-PDE). Furthermore, we demonstrate the effectiveness of our method with a two-dimensional case study, and the experiment shows that the controller synthesized using our method consistently outperforms the baselines, both in safety and performance.
