Surviving disturbances: A predictive control framework with guaranteed safety
Surviving disturbances: A predictive control framework with guaranteed safety
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DOI：
10.1016/j.automatica.2023.111238
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发表时间：
2023-12
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影响因子：
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通讯作者：
Yunda Yan;Xue‐Fang Wang;Ben Marshall;Cunjia Liu;Jun Yang;Wen-Hua Chen
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作者：
Yunda Yan;Xue‐Fang Wang;Ben Marshall;Cunjia Liu;Jun Yang;Wen-Hua Chen
在安全关键型控制系统中，拒绝所有干扰是一种奢望，因此，控制器能够实现的一个明智目标是，尽可能避免干扰。为了建立一个从抵抗所有干扰开始并采取适当的机会拒绝干扰的理论框架，首先通过探索状态、输入和干扰的稳定集之间的关系来建立抵抗干扰的充分条件，然后建立拒绝干扰的输出可达性条件。然后，通过将伪稳态输入、输出、状态和扰动（IOSD）四重奏嵌入到优化中，开发了一种新的鲁棒安全关键模型预测控制（MPC）框架。与大多数现有的跟踪 MPC 设置不同，采用了一种新的、独特的公式，将伪稳态扰动作为优化决策变量，而不是直接由扰动估计驱动。这种新设置能够解耦估计误差动态，即使干扰或其估计快速变化，也能显着保证递归可行性。此外，为了实现与干扰的最佳共存，如果拒绝干扰与安全关键规范相冲突，则可以实现对受损参考的无偏移跟踪。最后，通过数值模拟和空中物理交互实验证明了该方法的优点。
Rejecting all disturbances is an extravagant hope in safety-critical control systems, hence surviving them where possible is a sensible objective a controller can deliver. In order to build a theoretical framework starting from surviving all disturbances but taking the appropriate opportunity to reject them, a sufficient condition on surviving disturbances is first established by exploring the relation among steady sets of state, input, and disturbance, followed by an output reachability condition on rejecting disturbances. A new robust safety-critical model prediction control (MPC) framework is then developed by embedding the quartet of pseudo steady input, output, state, and disturbance (IOSD) into the optimisation. Unlike most existing tracking MPC setups, a new and unique formulation is adopted by taking thepseudo steady disturbanceas an optimisation decision variable, rather than directly driven by the disturbance estimate. This new setup is able to decouple estimation error dynamics, significantly contributing to the guarantee of recursive feasibility, even if the disturbance or its estimate changes rapidly. Moreover, towards optimal coexistence with disturbances, offset-free tracking of a compromised reference can be achieved, if rejecting the disturbance conflicts with safety-critical specifications. Finally, the benefits of the proposed method have been demonstrated by both numerical simulations and experiments on aerial physical interaction.