Asymptotic stabilization with group‐wise sparse input based on control Lyapunov function approach
Asymptotic stabilization with group‐wise sparse input based on control Lyapunov function approach
复制标题
基于控制 Lyapunov 函数方法的分组稀疏输入渐近稳定
DOI：
10.1002/rnc.5971
复制
发表时间：
2021
影响因子：
3.9
通讯作者：
Kobayashi Koichi
中科院分区：
文献类型：
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作者：
Yamashita Yuh;Sakano Kiminori;Kobayashi Koichi
本研究提出一种新的非线性系统的稳定化控制器，使用分组稀疏输入。输入变量分为几组。在可以忽略输入约束的情况下，每个组在每个时刻都有一个输入变为活动的。我们的方法提高了能源效率，因为稀疏输入向量通常会降低不活动致动器的待机功率。大规模系统，例如由多个子系统组成的系统，通常需要同时控制多个输入。由于输入的分组稀疏性，我们的方法可以应用于这样的系统。所提出的控制器是基于控制李雅普诺夫函数方法，包括桑塔格的普遍公式作为一个特殊情况。在我们的方法中设计的控制器具有最大努力的性质，这意味着即使不能满足对李雅普诺夫函数的下降率的限制，控制器也能在输入约束内最小化李雅普诺夫函数的时间导数。通过仿真验证了该方法的有效性。
This study proposes a novel stabilizing controller for nonlinear systems using group‐wise sparse inputs. The input variables are divided into several groups. In the situations when the input constraints can be ignored, one input becomes active for each group at each moment. Our method improves energy efficiency, as sparse input vectors often reduce the standby power of inactive actuators. Large‐scale systems, such as those consisting of multiple subsystems, often require the manipulation of multiple inputs simultaneously to be controlled. Our method can be applied to such systems due to the group‐wise sparsity of the inputs. The proposed controller is based on the control Lyapunov function approach and includes Sontag's universal formula as a special case. The controllers designed in our method have best‐effort property, which means even when a restriction for the decreasing rate of the Lyapunov function cannot be fulfilled, the controller minimizes the time derivative of the Lyapunov function within the input constraint. The effectiveness of the proposed method can be confirmed through simulations.