Continuous Abstraction of Nonlinear Systems using Sum-of-Squares Programming
Continuous Abstraction of Nonlinear Systems using Sum-of-Squares Programming
复制标题
使用平方和规划对非线性系统进行连续抽象
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
M. Arcak
中科院分区：
文献类型：
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作者：
Stanley W. Smith;He Yin;M. Arcak
我们提出了一种非线性控制系统的控制设计方法，其中我们用一个低维连续状态抽象来表示一个潜在的高维系统。抽象生成一个引用，原始系统通过一个低级控制器遵循该引用。我们提出了平方和规划作为设计该控制器的工具，并提供了系统与其抽象之间的相对误差的上界。我们用一个仿真函数同时计算低阶控制器，该仿真函数保证了相对误差的有界性。
We present a control design procedure for nonlinear control systems in which we represent a potentially high dimensional system with a low dimensional continuous-state abstraction. The abstraction generates a reference which the original system follows with a low level controller. We propose sum-of-squares programming as a tool to design this controller and to provide an upper bound on the relative error between the system and its abstraction. We compute the low level controller simultaneously with a simulation function that gives the boundedness guarantee for the relative error.