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Safety-Critical Control with Bounded Inputs via Reduced Order Models

Molnar, Tamás G. and Ames, Aaron D. (2023) Safety-Critical Control with Bounded Inputs via Reduced Order Models. . (Unpublished)

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Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine in practice. With this as motivation, this paper presents a safety-critical control framework that leverages reduced order models to ensure safety on the full order dynamics -- even when these models are subject to disturbances and bounded inputs (e.g., actuation limits). To handle input constraints, the backup set method is reformulated in the context of reduced order models, and conditions for the provably safe behavior of the full order system are derived. Then, the input-to-state safe backup set method is introduced to provide robustness against discrepancies between the reduced order model and the actual system. Finally, the proposed framework is demonstrated in high-fidelity simulation, where a quadrupedal robot is safely navigated around an obstacle with legged locomotion by the help of the unicycle model.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Molnar, Tamás G.0000-0002-9379-7121
Ames, Aaron D.0000-0003-0848-3177
Additional Information:Attribution 4.0 International (CC BY 4.0) This research is supported in part by the National Science Foundation, CPS Award #1932091, Dow (#227027AT) and Aerovironment. We thank Albert Li and Andrew Taylor for discussions about safety with reduced order models, and Wyatt Ubellacker for his invaluable help in synthesizing low-level controllers for the quadruped.
Funding AgencyGrant Number
Dow Chemical Company227027AT
Record Number:CaltechAUTHORS:20230316-204039111
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:120104
Deposited By: George Porter
Deposited On:16 Mar 2023 23:13
Last Modified:16 Mar 2023 23:13

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