Interdependence quantification for compositional control synthesis with an application in vehicle safety systems
Interdependence quantification for compositional control synthesis with an application in vehicle safety systems
复制标题
成分控制综合的相互依赖性量化及其在车辆安全系统中的应用
DOI：
10.1109/cdc.2016.7799145
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
N. Ozay
中科院分区：
文献类型：
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作者：
Stanley W. Smith;Petter Nilsson;N. Ozay
组成单独为交互子系统设计的控制器，同时保持每个控制器为每个子系统提供的保证，是一项具有挑战性的任务。受这一挑战的启发，我们在本文中考虑了线性变参数子系统的安全控制器综合问题，其中每个子系统的系统矩阵依赖于(可能是非线性的)其他子系统的状态。特别地，我们提出了一种综合受控不变集和相关控制器的方法，该方法对系统矩阵中的仿射参数不确定性具有很强的鲁棒性。然后，我们展示了对于某些类型的参数依赖，如何通过用仿射映射凸化这些参数的影响来量化施加在其他子系统上的不确定性。对这种量化进行了分析。在论文的第二部分，我们重点介绍了该方法在车辆安全系统中的应用。我们演示了如何使用所提出的方法以组合的方式综合车道保持控制器和自适应巡航控制控制器。我们的模拟表明，当同时实施时，这些控制器如何保持其个人安全保证，正如理论所表明的那样。
Composing controllers designed individually for interacting subsystems, while preserving the guarantees that each controller provides for each subsystem, is a challenging task. Motivated by this challenge, we consider in this paper the problem of synthesizing safety controllers for linear parameter-varying subsystems, where the system matrices of each subsystem depend (possibly nonlinearly) on the states of the other subsystems. In particular, we propose a method for synthesis of controlled invariant sets and associated controllers, that is robust against affine parametric uncertainties in the system matrices. Then we show for certain classes of parameter dependencies how to quantify the uncertainty imposed on the other subsystems by convexifying, with an affine map, the effects of these parameters. An analysis of this quantification is provided. In the second part of the paper, we focus on an application of this method to vehicle safety systems. We demonstrate how controllers for lane-keeping and adaptive cruise control can be synthesized in a compositional way using the proposed method. Our simulations illustrate how these controllers keep their individual safety guarantees when implemented simultaneously, as the theory suggests.