低次元モデルを用いた安全臨界制御器の合成
Safety-Critical Controller Synthesis with Reduced-Order Models
複雑なシステムを低次元モデルで表現し、制御バリア関数と組み合わせることで、簡略化モデルから安全保証を全次元モデルへと移行できる枠組みを提案し、ドローンと3D跳躍ロボットで実証した。
著者: Max H. Cohen, Noel Csomay-Shanklin, William D. Compton, Tamas G. Molnar, Aaron D. Ames
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous work, this paper presents an overarching framework for the integration of ROMs and control barrier functions, enabling the use of simplified models to construct safety-critical controllers while providing safety guarantees for complex full-order models. To achieve this, we formalize the connection between full and ROMs by defining projection mappings that relate the states and inputs of these models and leverage simulation functions to establish conditions under which safety guarantees may be transferred from a ROM to its corresponding full-order model. The efficacy of our framework is illustrated through simulation results on a drone and hardware demonstrations on ARCHER, a 3D hopping robot.
