Efficient Safety Control Synthesis with Imperfect State Information
Efficient Safety Control Synthesis with Imperfect State Information
复制标题
不完善状态信息的高效安全控制综合
DOI：
--
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
N. Ozay
中科院分区：
文献类型：
--
作者：
Liren Yang;N. Ozay
我们考虑为离散时间动态系统合成安全控制器，噪声）状态测量。为了找到此类系统安全博弈的实际获胜集，需要通过幂集构造来解决部分信息博弈，但一般来说，这在计算上是难以解决的。在本文中，我们提出了两个保守的，但计算更有效的方法，通过计算集，可以呈现不变的噪声测量。这是通过考虑一个完美的信息安全游戏的动态估计状态。这个替代游戏的不变集被证明是等价于原系统的噪声适应收缩集。与这两种方法相关联的控制器需要不同的初始状态知识：一个只需要初始测量，另一个也需要精确地知道初始状态。一般来说，这两种方法得到的受控不变集是不可比的，根据手头的问题，任何一种方法都是可取的。所提出的方法的功效与飞机滑行的例子，其中的状态估计任务是由一个感知模块来执行。
We consider synthesizing safety controllers for discrete-time dynamical systems with imperfect (i.e., noisy) state measurements. In order to find the actual winning set of a safety game for such systems, one needs to solve a partial information game via power set construction, which, in general, is computationally intractable. In this paper, we propose two conservative but computationally more efficient approaches by computing sets that can be rendered invariant with the noisy measurement. This is achieved by considering a perfect information safety game for the dynamics of an estimated state. The invariant set for this alternative game is shown to be equivalent to a noise-adapted contractive set for the original system. The controllers associated with the two proposed approaches require different knowledge of the initial states: one requires only the initial measurement and the other also requires knowing the initial state exactly. In general, the resulting controlled invariant sets by these two approaches are not comparable, and depending on the problem in hand either one can be preferable. The efficacy of the proposed approach is illustrated with an aircraft taxiing example, where the state estimation task is performed by a perception module.