Robust Design of Closed-Loop Nonlinear Systems with Input and State Constraints
Robust Design of Closed-Loop Nonlinear Systems with Input and State Constraints
复制标题
具有输入和状态约束的闭环非线性系统的鲁棒设计
DOI：
10.3182/20060402-4-br-2902.00329
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
W. Marquardt
中科院分区：
文献类型：
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作者：
Diego A. Muñoz;W. Marquardt
摘要本文研究具有不确定性和干扰的非线性系统的鲁棒过程和控制设计，使其输入和输出的边界不被破坏。本文采用作者近年来提出的一种基于优化的构造非线性动力学（CNLD）方法来解决这一问题。CNLD保证鲁棒性，从关键流形的名义操作点后退。临界流形是系统和控制器参数空间中的边界，它将具有定性不同系统行为的区域分开，例如具有稳定工作点的区域与具有不稳定系统行为的区域。在这项工作中，CNLD被采用并扩展到考虑输入和状态轨迹的边界和约束。在参数空间中提出了临界边界，将所有轨迹保持在边界内的区域与轨迹违反约束的区域分开。从这种新型的临界流形中导出了确保最小回退的约束。通过实例分析，验证了该方法的可行性。
Abstract In this paper we address the task of finding a robust process and control design for nonlinear systems with uncertainties and disturbances such that bounds on inputs and outputs are not violated. The solution of this task is approached by Constructive Nonlinear Dynamics (CNLD), an optimization based method developed by the authors in recent years. CNLD guarantees robustness by backing off a nominal point of operation from critical manifolds. Critical manifolds are boundaries in the space of system and controller parameters that separate regions with qualitatively different system behavior, such as a region with stable operating points from a region with unstable system behavior. In this work, CNLD is adopted and extended to account for bounds and constraints on trajectories of inputs and states. Critical boundaries in the parameter space are presented that separate a region where all trajectories stay within the bounds from a region where trajectories violate the constraints. Constraints ensuring a minimal back off from this new type of critical manifold are derived. Application to an illustrative case study demonstrates the feasibility of the approach.