An Online Approach to Active Set Invariance
An Online Approach to Active Set Invariance
复制标题
主动集不变性的在线方法
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
E. Feron
中科院分区：
文献类型：
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作者：
Thomas Gurriet;Mark L. Mote;A. Ames;E. Feron
本文提出了一种在线的安全临界控制方法。用于强制系统安全的常见方法需要可行集合的离线计算，这要么是困难且耗时的，要么在系统的操作自由度方面非常受限。这项工作的第一部分展示了如何通过围绕备份轨迹执行在线灵敏度分析，以最小侵入性的方式约束系统保持在适当选择的备份集的范围内。对于线性系统，我们展示了如何使用模型预测控制器（MPC）的形式，以最大限度地提高系统的操作自由度的最佳备份策略。这项工作的第二部分展示了如何利用这种能力，并在状态约束的因素，只基于敏感性的在线计算来执行集不变性。对于线性系统，最优策略再次考虑，我们展示了如何可以进行灵敏度分析的基础上的一个状态约束MPC的可行性措施。这种方法在线性倒立摆的仿真中得到了说明。
This paper presents an online approach to safety critical control. The common approach for enforcing safety of a system requires the offline computation of a viable set, which is either hard and time consuming or very restrictive in terms of operational freedom for the system. The first part of this work shows how one can constrain a system to stay within reach of an appropriately chosen backup set in a minimally invasive way by performing online sensitivity analysis around a backup trajectory. For linear systems, we show how to use an optimal backup strategy in the form of a Model Predictive Controller (MPC) to maximize the operational freedom of the system. The second part of this work shows how to leverage this capability and factor in state constraints to enforce set invariance only based on online computations of sensitivities. For linear systems, the optimal strategy is again considered and we show how one can perform the sensitivity analysis based on a measure of feasibility of a state constrained MPC. This approach is illustrated in simulation on a linear inverted pendulum.