Layered Multirate Control of Constrained Linear Systems

Abstract

Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system, and ii) a lower layer, where a high-frequency tracking controller guides a detailed model of the system toward the output of the higher-layer model. A fundamental problem in this layered architecture is the design of planners and tracking controllers that guarantee both higher- and lower-layer system constraints are satisfied. Toward addressing this problem, we introduce a principled approach for layered multirate control of linear systems subject to output and input constraints. Inspired by discrete-time simulation functions, we propose a streamlined control design that guarantees the lower-layer system tracks the output of the higher-layer system with computable precision. Using this design, we derive conditions and present a method for propagating the constraints of the lower-layer system to the higher-layer system. The propagated constraints are integrated into the design of an arbitrary planner that can handle higher-layer system constraints. Our framework ensures that the output constraints of the lower-layer system are satisfied at all high-level time steps, while respecting its input constraints at all low-level time steps. We apply our approach in a scenario of motion planning, highlighting its critical role in ensuring collision avoidance.