高次システム向けモデルフリー制御バリア関数のアプローチ
A model-free approach to control barrier functions for higher-order systems
制御バリア関数をモデルなしで高次非線形システムに拡張し、動的モデルや状態測定を必要とせずに安全制御を実現する手法を提案した。7自由度ロボットアームで実証した。
著者: Lukas Lanza, Johannes Köhler, Dario Dennstädt, Thomas Berger, Karl Worthmann
分類: eess.SY, math.OC
原文アブストラクト
Control barrier functions (CBFs) are a widely applied modular tool to ensure safe operation of nonlinear dynamical control systems. However, for their construction accurate knowledge of the system dynamics is typically needed. This requirement was recently alleviated for relative-degree-one systems using techniques from prescribed performance control (PPC) or funnel control (FC). This article extends the model-free CBF design to nonlinear systems of arbitrary relative degree. Moreover, we show with a simple example that a straightforward extension of existing results for relative-degree-one systems fails. Instead, we utilize novel techniques from funnel control to characterize a subset of the controls satisfying a CBF condition without requiring a dynamic model or state measurement. Finally, we demonstrate the applicability of our results on a seven degrees of freedom robotic manipulator with relative degree two.