入力制約下の安全臨界制御：バックアップ制御バリア関数の閉形式解
Safety-Critical Control with Bounded Inputs: A Closed-Form Solution for Backup Control Barrier Functions
入力制約のあるシステムの安全制御のため、バックアップ制御バリア関数の最適化問題を閉形式で解き、計算負荷を抑えつつ安全性を保証する手法を提案した。
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著者: David E. J. van Wijk, Ersin Das, Tamas G. Molnar, Aaron D. Ames, Joel W. Burdick
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Verifying the safety of controllers is critical for many applications, but is especially challenging for systems with bounded inputs. Backup control barrier functions (bCBFs) offer a structured approach to synthesizing safe controllers that are guaranteed to satisfy input bounds by leveraging the knowledge of a backup controller. While powerful, bCBFs require solving a high-dimensional quadratic program at run-time, which may be too costly for computationally-constrained systems such as aerospace vehicles. We propose an approach that optimally interpolates between a nominal controller and the backup controller, and we derive the solution to this optimization problem in closed form. We prove that this closed-form controller is guaranteed to be safe while obeying input bounds. We demonstrate the effectiveness of the approach on a double integrator and a nonlinear fixed-wing aircraft example.
