发表机构
California Institute of Technology（加州理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对类四旋翼欠驱动系统的安全关键控制设计难题，提出构造性分层控制框架，明确其自然分层架构的适用条件，设计了分层控制障碍函数合成流程并给出成功条件。
AI 中文摘要
具有非平凡几何特性的欠驱动系统在实际机器人问题中大量存在，但针对欠驱动场景的构造性安全关键控制设计研究较少。本研究为一类类四旋翼欠驱动系统提供了构造性框架，用于合成安全控制架构与控制障碍函数（CBF）。通过研究其欠驱动几何特性，明确了这类系统具备适用于安全关键控制设计的自然分层架构的条件，基于此架构设计了构造性分层CBF合成流程，并给出了该流程成功的条件。
英文摘要
Underactuated systems with nontrivial geometry are abundant in practical robotic problems. However, little is known about constructive safety-critical control design in the presence of underactuation. In this work, we provide a constructive framework for synthesizing safe control architectures and control barrier functions for a class of quadrotor-like underactuated systems. By studying the geometry of their underactuation, we characterize when these systems have natural layered architectures useful for safety-critical control design. Using these architectures, we devise a constructive, hierarchical CBF synthesis procedure and provide conditions under which it succeeds.
Comments8 pages, 2 figures. To appear at the IEEE Conference on Decision and Control (CDC), 2026
