アクチュエータを考慮した時空間チューブ合成：時間制約付き到達・回避・滞在タスク向け
Actuator-Aware Spatiotemporal Tube Synthesis for Temporal Reach-Avoid-Stay Tasks
アクチュエータの制約を直接チューブ合成に組み込むことで、オンライン再最適化やコントローラ再設計を不要にした時空間チューブ合成フレームワークを提案。全方向移動ロボットのシミュレーションで制御努力を約50%削減。
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著者: Keshab Patra, K Madhava Krishna
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This work proposes an actuator-aware spatiotemporal tube (STT) synthesis framework to accomplish temporal reach-avoid-stay (T-RAS) tasks for an unknown nonlinear multi-input and multi-output (MIMO) system under actuator constraints. Existing STT synthesis methods address actuator saturation after the tube generation either through repeated online re-optimization or controller redesign. Instead, the proposed framework incorporates actuator constraints directly into the tube synthesis process. The STT centerline and width are parameterized using Bernstein polynomial basis functions, whose convex-hull property enables sample-free enforcement of geometric and derivative constraints. By analyzing the worst-case closed-loop error dynamics of an approximation-free prescribed performance controller (PPC) used for STT tracking, we derive a linear actuator feasibility constraint. The constraints are embedded directly in terms of the tubes' Bernstein control points into the STT synthesis optimization for actuator-feasible tube generation, eliminating the need for online re-optimization or controller redesign. A simulation study on an omnidirectional mobile robot performing a T-RAS task shows that the proposed framework adheres to the prescribed actuator limits throughout the task and reduces required control effort by approximately $50\%$ compared with an existing STT synthesis method.
