用简化模型设计安全控制器，保障复杂系统运行安全
Safety-Critical Controller Synthesis with Reduced-Order Models
- 通过投影映射建立简化模型与全阶模型的关联
- 利用仿真函数实现安全约束从简化模型到真实系统的传递
- 在无人机和3D跳跃机器人上验证了框架有效性
降维模型（ROMs）为复杂系统提供低维表示，保留其关键特征并简化控制设计。本文提出一个综合框架，将ROM与控制屏障函数结合，使简化模型可用于构建安全关键控制器，并为全阶模型提供安全保证。为此，我们通过定义状态与输入的投影映射，形式化了全阶模型与ROM之间的联系，并利用仿真函数建立安全保证从ROM向对应全阶模型转移的条件。该框架的有效性通过无人机仿真和ARCHER（一台3D跳跃机器人）的硬件实验得到验证。
原文摘要 · Abstract (English)
Reduced-order models (ROMs) provide lower dimensional representations of complex systems, capturing their salient features while simplifying control design. Building on previous work, this paper presents an overarching framework for the integration of ROMs and control barrier functions, enabling the use of simplified models to construct safety-critical controllers while providing safety guarantees for complex full-order models. To achieve this, we formalize the connection between full and ROMs by defining projection mappings that relate the states and inputs of these models and leverage simulation functions to establish conditions under which safety guarantees may be transferred from a ROM to its corresponding full-order model. The efficacy of our framework is illustrated through simulation results on a drone and hardware demonstrations on ARCHER, a 3D hopping robot.
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