Safe Feedback Motion Planning: A Contraction Theory and ℒ₁-Adaptive Control Based Approach

摘要

Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and certify safe tubes around desired trajectories that the robot is always guaranteed to remain inside. By leveraging recent results in contraction analysis and ℒ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> -adaptive control we synthesize an architecture that induces safe tubes for nonlinear systems with state and time-varying uncertainties. We demonstrate with a few illustrative examples <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> how contraction theory-based ℒ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> -adaptive control can be used in conjunction with traditional motion planning algorithms to obtain provably safe trajectories.