動的環境における未知オイラー・ラグランジュ系の安全航法のための入力制約付き時空間チューブ
Input-Constrained Spatiotemporal Tubes for Safe Navigation of Unknown Euler-Lagrange Systems in Dynamic Environments
未知のダイナミクスと入力制約を持つシステムに対し、有限時間到達・回避・滞在仕様を保証するリアルタイム制御フレームワークを提案し、シミュレーションと実機で検証した。
著者: Siddhartha Upadhyay, Ratnangshu Das, Pushpak Jagtap
分類: eess.SY, cs.RO
原文アブストラクト
Safe navigation in dynamic environments is challenging when system dynamics are unknown and actuator inputs are limited. Existing methods either rely on accurate models, require online optimization, or do not explicitly account for input constraints. This paper presents a real-time control framework for unknown Euler-Lagrange systems that guarantees finite-time reach-avoid-stay (FT-RAS) specifications while respecting actuator limits. We extend the spatiotemporal tube (STT) framework by incorporating input constraints into the controller design and derive offline-verifiable feasibility conditions that relate the available control authority to the tube design and uncertainty bounds. The resulting framework is approximation-free and computationally efficient, making it suitable for real-time implementation. The proposed approach is validated through simulations on a mobile robot, a quadrotor, and a spacecraft, together with hardware experiments on a mobile robot, demonstrating safe navigation while satisfying actuator constraints.