Robust Direct Data-Driven Hamiltonian for Safe Set Computation under Measurement Noise and Disturbances
鲁棒直接数据驱动哈密顿量:测量噪声和扰动下的安全集计算
Mohammad Bajelani, Christopher A. Strong, Claire J. Tomlin, Jason J. Choi, Klaske van Heusden
AI总结 针对测量噪声和扰动,提出鲁棒数据驱动哈密顿量(R-DDH),从噪声数据中推导安全集的内近似,并证明其收敛性。
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安全集计算是安全关键控制系统中的一个基本挑战,特别是在直接数据驱动设置中,安全分析直接从受噪声影响的测量值进行,无需显式建模。最近提出的一种方法,数据驱动哈密顿量(DDH),能够直接从测量值进行可达性分析,而无需依赖底层系统动力学的先验知识。本文将DDH框架扩展到鲁棒设置,考虑了测量噪声、外部扰动以及采样引起的状态-速度估计误差。从噪声测量中推导出鲁棒数据驱动哈密顿量(R-DDH),并证明其能给出精确哈密顿量的认证下界。这导致值函数的可证明欠近似和相关安全集的内近似。量化了数据驱动哈密顿量与精确哈密顿量之间的差距,并证明在无噪声但有加性扰动的设置中,随着数据增多,该差距收敛到零。通过两个案例研究展示了该方法的有效性:一个受约束的双积分器和一个在感知不确定性下运行的非线性闭环控制的飞机滑行系统。
Safe set computation is a fundamental challenge in safety-critical control systems, especially in direct data-driven settings where safety analysis is performed directly from noise-affected measurements, without explicit modeling. A recently proposed method, Data-Driven Hamiltonian (DDH), enables reachability analysis directly from measurements, without relying on prior knowledge of the underlying system dynamics. This paper extends the DDH framework to a robust setting that accounts for measurement noise, exogenous disturbances, and sampling-induced state-velocity estimation error. A Robust Data-Driven Hamiltonian (R-DDH) is derived from noisy measurements and shown to yield a certified lower bound on the exact Hamiltonian. This results in a provable under-approximation of the value function and an inner approximation of the associated safe set. The gap between the data-driven and exact Hamiltonians is quantified, and it is shown to converge to zero with more data in a noise-free setting with additive disturbances. The effectiveness of the approach is shown through two case studies: a constrained double integrator and an aircraft taxiing system with a nonlinear closed-loop controller operating under perceptual uncertainty.