Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
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DOI：
10.1109/lra.2022.3153712
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发表时间：
2021-09
影响因子：
5.2
通讯作者：
Pan Zhao;Arun Lakshmanan;K. Ackerman;Aditya Gahlawat;M. Pavone;N. Hovakimyan
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文献类型：
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作者：
Pan Zhao;Arun Lakshmanan;K. Ackerman;Aditya Gahlawat;M. Pavone;N. Hovakimyan
提出了一种基于鲁棒控制收缩度量（CCM）的非线性仿射控制系统的保轨迹跟踪方法，该方法的目标是最小化干扰对实际变量与标称变量偏差的L ∞增益.保证是在不变管的形式，离线计算，在任何名义上的轨迹，其中的实际状态和系统的输入保证留在尽管干扰。在温和的假设下，我们证明了所提出的鲁棒CCM（RCCM）的方法比现有的方法CCM和输入到状态的稳定性分析的基础上产生更紧的管。我们展示了如何将基于RCCM的跟踪控制器与管一起纳入反馈运动规划框架，以规划机器人系统的安全轨迹。仿真结果表明了所提出的方法的有效性和经验证明显着减少保守性相比，以前的方法
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the L infinity gain from the disturbances to the deviation of actual variables of interests from their nominal counterparts. The guarantee is in the form of invariant tubes, computed offline, around any nominal trajectories in which the actual states and inputs of the system are guaranteed to stay despite disturbances. Under mild assumptions, we prove that the proposed robust CCM (RCCM) approach yields tighter tubes than an existing approach based on CCM and input-to-state stability analysis. We show how the RCCM-based tracking controller together with tubes can be incorporated into a feedback motion planning framework to plan safe trajectories for robotic systems. Simulation results illustrate the effectiveness of the proposed method and empirically demonstrate significantly reduced conservatism compared to previous approaches