Safe Control of Euler-Lagrange Systems with Limited Model Information
- Resource Type
- Conference
- Authors
- Wang, Yujie; Xu, Xiangru
- Source
- 2023 62nd IEEE Conference on Decision and Control (CDC) Decision and Control (CDC), 2023 62nd IEEE Conference on. :5722-5728 Dec, 2023
- Subject
- Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Adaptation models
Control design
Simulation
Measurement uncertainty
Aerospace electronics
Stability analysis
Safety
- Language
- ISSN
- 2576-2370
This work presents a new safe control framework for Euler-Lagrange (EL) systems with limited model information, external disturbances, and measurement uncertainties. The EL system is decomposed into two subsystems called the proxy subsystem and the virtual tracking subsystem. An adaptive safe controller based on barrier Lyapunov functions is designed for the virtual tracking subsystem to ensure the boundedness of the safe velocity tracking error, and a safe controller based on control barrier functions is designed for the proxy subsystem to ensure controlled invariance of the safe set defined either in the joint space or task space. Theorems that guarantee the safety of the proposed controllers are provided. In contrast to existing safe control strategies for EL systems, the proposed method requires much less model information and can ensure safety rather than input-to-state safety. Simulation results are provided to illustrate the effectiveness of the proposed method.