Safety-Critical Controller Synthesis with Reduced-Order Models

Autor:	Cohen, Max H., Csomay-Shanklin, Noel, Compton, William D., Molnar, Tamas G., Ames, Aaron D.
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2411.16479 Zobrazit plný text záznamu View this record from Arxiv