劣駆動系に対する構成的安全臨界制御：階層的アプローチ
Constructive Safety-Critical Control for a Class of Underactuated Systems: A Hierarchical Approach
クアッドロータ型の劣駆動系に対し、その幾何学的性質を利用して安全制御アーキテクチャと制御バリア関数を階層的に構築する手法を提案した論文。
著者: Massimiliano de Sa, Aaron D. Ames
分類: eess.SY, math.OC
原文アブストラクト
Underactuated systems with nontrivial geometry are abundant in practical robotic problems. However, little is known about constructive safety-critical control design in the presence of underactuation. In this work, we provide a constructive framework for synthesizing safe control architectures and control barrier functions for a class of quadrotor-like underactuated systems. By studying the geometry of their underactuation, we characterize when these systems have natural layered architectures useful for safety-critical control design. Using these architectures, we devise a constructive, hierarchical CBF synthesis procedure and provide conditions under which it succeeds.