A New Perspective on Projection-to-State Safety and Its Application to Robotic Arms

Ming Li; Zhiyong Sun

doi:10.23919/ACC55779.2023.10156327

A New Perspective on Projection-to-State Safety and Its Application to Robotic Arms

Ming Li, Zhiyong Sun

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

1 Citation (Scopus)

11 Downloads (Pure)

Abstract

Projection-to-state safety (PSSf) is a special case of input-to-state safety (ISSf), which uses projections to create a low-dimensional representation of the uncertainties and allows quantifying the impact of the projected disturbance on the safety guarantees in a low-dimensional space. In this paper, rather than reasoning PSSf as a characterization of safety in terms of projected uncertainties, we interpret it as a property of the original dynamical system that is guaranteed by ISSf of the projected dynamical system. This new perspective allows for simplifying controller synthesis via projected dynamical systems and quantifying the impact of uncertainties on the safety of the original dynamical systems. Moreover, we extend the results of PSSf to deal with high relative degree constraints via a coordination transformation strategy, which makes it also applicable to some high-order systems. To exhibit the efficacy of the new perspective, a robotic arm application, and its corresponding numerical results are provided for validation.

Original language	English
Title of host publication	2023 American Control Conference, ACC 2023
Publisher	Institute of Electrical and Electronics Engineers
Pages	2430-2435
Number of pages	6
ISBN (Electronic)	979-8-3503-2806-6
DOIs	https://doi.org/10.23919/ACC55779.2023.10156327
Publication status	Published - 3 Jul 2023
Event	2023 American Control Conference, ACC 2023 - San Diego, United States Duration: 31 May 2023 → 2 Jun 2023

Conference

Conference	2023 American Control Conference, ACC 2023
Abbreviated title	ACC 2023
Country/Territory	United States
City	San Diego
Period	31/05/23 → 2/06/23

Funding

This work was supported in part by a starting grant from Eindhoven Artificial Intelligence Systems Institute (EAISI), Eindhoven, the Netherlands; in part by EU-Horizon2020 - Marie Skłodowska-Curie Actions (MSCA SE) grant No.101086228.

Funders	Funder number
Eindhoven University of Technology
Marie Skłodowska‐Curie	101086228

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10.23919/ACC55779.2023.10156327

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Cite this

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title = "A New Perspective on Projection-to-State Safety and Its Application to Robotic Arms",

abstract = "Projection-to-state safety (PSSf) is a special case of input-to-state safety (ISSf), which uses projections to create a low-dimensional representation of the uncertainties and allows quantifying the impact of the projected disturbance on the safety guarantees in a low-dimensional space. In this paper, rather than reasoning PSSf as a characterization of safety in terms of projected uncertainties, we interpret it as a property of the original dynamical system that is guaranteed by ISSf of the projected dynamical system. This new perspective allows for simplifying controller synthesis via projected dynamical systems and quantifying the impact of uncertainties on the safety of the original dynamical systems. Moreover, we extend the results of PSSf to deal with high relative degree constraints via a coordination transformation strategy, which makes it also applicable to some high-order systems. To exhibit the efficacy of the new perspective, a robotic arm application, and its corresponding numerical results are provided for validation.",

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AB - Projection-to-state safety (PSSf) is a special case of input-to-state safety (ISSf), which uses projections to create a low-dimensional representation of the uncertainties and allows quantifying the impact of the projected disturbance on the safety guarantees in a low-dimensional space. In this paper, rather than reasoning PSSf as a characterization of safety in terms of projected uncertainties, we interpret it as a property of the original dynamical system that is guaranteed by ISSf of the projected dynamical system. This new perspective allows for simplifying controller synthesis via projected dynamical systems and quantifying the impact of uncertainties on the safety of the original dynamical systems. Moreover, we extend the results of PSSf to deal with high relative degree constraints via a coordination transformation strategy, which makes it also applicable to some high-order systems. To exhibit the efficacy of the new perspective, a robotic arm application, and its corresponding numerical results are provided for validation.

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A New Perspective on Projection-to-State Safety and Its Application to Robotic Arms

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