Safety-Critical Controller Synthesis with Reduced-Order Models

2024/11/25 by M. Cohen, Cohen, Max H., Noel Csomay-Shanklin +7 · 4 citations
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Computer and information sciences #FOS: Electrical engineering #Fault Detection and Control Systems #Formal Methods in Verification #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2411.16479

openalex publication_date 2024/11/25 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

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.

Cited by

• An Error-Based Safety Buffer for Safe Adaptive Control (Extended Version)
• CBF-RL: Safety Filtering Reinforcement Learning in Training with Control Barrier Functions
• Safety-Critical Control via Recurrent Tracking Functions
• Compatibility of Multiple Control Barrier Functions for Constrained Nonlinear Systems

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