Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling
Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling
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DOI：
10.23919/acc53348.2022.9867252
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发表时间：
2022-06
期刊：
影响因子：
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通讯作者：
Seyed Amir Tafrishi;Xiaotian Dai;Y. Hirata;A. Burns
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文献类型：
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作者：
Seyed Amir Tafrishi;Xiaotian Dai;Y. Hirata;A. Burns
新兴的先进控制应用程序，增加了软件的复杂性，但有限的计算资源，建议实时控制器应该有适应性的设计。这些控制策略的设计还应该考虑系统的运行时行为。这种研究尝试之一是设计控制器与任务调度器一起沿着，称为控制调度协同设计，以实现更可预测的定时行为以及幸存的系统过载。与具有等距采样周期的传统控制器设计不同，协同设计方法通过明确考虑时序特性（例如使用基于事件的控制器或具有多个采样时间（非均匀采样和控制））来增加系统灵活性和弹性。在此背景下，我们介绍了第一个工作的离散化的基于能量的控制器，可以任意切换之间的多个周期，并相应地调整控制参数，而不稳定的系统。以弹性负载直流电动机为例，介绍了基于该范例的数字控制器设计，并基于所提出的李雅普诺夫函数给出了稳定性条件。各种基于计算机的模拟，证明其有效性的方法进行评估。
Emerging advanced control applications, with increased complexity in software but limited computing resources, suggest that real-time controllers should have adaptable designs. These control strategies also should be designed with consideration of the run-time behavior of the system. One of such research attempts is to design the controller along with the task scheduler, known as control-scheduling co-design, for more predictable timing behavior as well as surviving system overloads. Unlike traditional controller designs, which have equal-distance sampling periods, the co-design approach increases the system flexibility and resilience by explicitly considering timing properties, for example using an event-based controller or with multiple sampling times (non-uniform sampling and control). Within this context, we introduce the first work on the discretization of an energy-based controller that can switch arbitrarily between multiple periods and adjust the control parameters accordingly without destabilizing the system. A digital controller design based on this paradigm for a DC motor with an elastic load as an example is introduced and the stability condition is given based on the proposed Lyapunov function. The method is evaluated with various computer-based simulations which demonstrate its effectiveness.