特異摂動理論による制御システムの安全性保証
Singular Perturbations for Control Systems Safety
時間スケールの異なるサブシステムからなる複雑なシステムに対し、特異摂動理論を用いて低次元の安全性証明を全体システムへ拡張する手法を提案し、マニピュレータで検証した。
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著者: Stefano Di Gregorio, Guido Carnevale, Giuseppe Notarstefano
分類: math.OC, eess.SY
原文アブストラクト
Control Barrier Functions (CBFs) offer a powerful theory for enforcing safety in dynamical systems. Yet, applying this framework to complex systems is challenging when subsystems are feedback-interconnected and operate at different timescales. Such structures arise naturally in multiphysics systems and in control architectures where physical plants interact with optimization, estimation, and control algorithms. In many of these settings, safety involves only part of the system, motivating the design of reduced-order certificates. Inspired by singular perturbation theory, we establish sufficient conditions, involving separation between slow and fast dynamics, under which a reduced-order safety certificate can be lifted to the full interconnected system. Specifically, we construct a composite CBF ensuring forward invariance of a lifted subset of the original safe set. We also show that the certified safe set expands monotonically as the tuning parameter accelerating the fast dynamics is reduced. Numerical results validate the approach on two robotic systems: a planar 2-DoF manipulator with motor dynamics and a 6-DoF UR10e manipulator controlled by a suboptimal optimization algorithm.