Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems
Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems
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DOI：
10.1109/tac.2018.2885477
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发表时间：
2017-06
影响因子：
6.8
通讯作者：
E. Tzorakoleftherakis;T. Murphey
中科院分区：
文献类型：
--
作者：
E. Tzorakoleftherakis;T. Murphey
提出了一种用于非线性系统控制的滚动时域迭代序贯作用控制（iSAC）。iSAC方法具有闭环形式的开环解，其通过引入短持续时间应用的恒定控制值在时间步长之间迭代更新。应用压缩约束的成本，导致闭环渐近稳定，温和的假设下。渐近衰减的干扰对系统轨迹的影响也进行了研究。为了证明iSAC的适用性，我们采用了各种系统和条件，包括13维基于四元数的四旋翼和NASA的过渡区和日冕探测器（TRACE）航天器。每个系统在不同的情况下进行测试，从可行和不可行的轨迹跟踪到设定点稳定，有或没有外部干扰的存在。最后，本文的局限性进行了讨论。
This paper presents iterative sequential action control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by introducing constant control values applied for short duration. Application of a contractive constraint on the cost is shown to lead to closed-loop asymptotic stability under mild assumptions. The effect of asymptotically decaying disturbances on system trajectories is also examined. To demonstrate the applicability of iSAC, we employ a variety of systems and conditions, including a 13-dimensional quaternion-based quadrotor and NASA's Transition Region and Coronal Explorer (TRACE) spacecraft. Each system is tested in different scenarios, ranging from feasible and infeasible trajectory tracking to setpoint stabilization, with or without the presence of external disturbances. Finally, limitations of this paper are discussed.