Efficiently Computable Constrained Optimal Feedback Controllers
Efficiently Computable Constrained Optimal Feedback Controllers
复制标题
高效可计算约束最优反馈控制器
DOI：
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发表时间：
2019
影响因子：
5.2
通讯作者：
D. Braun
中科院分区：
文献类型：
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作者：
Yuqing Chen;L. Roveda;D. Braun
约束最优反馈控制器可以用来抑制机器人控制中的外部摄动和建模误差。然而，这些控制器需要大量的计算，这是它们在实时实现中的主要限制之一。在这里，我们提出了两个局部最优反馈控制器，可以有效地在线实时计算。这些控制器适用于具有非线性动态、非线性状态和控制依赖代价、控制输入受限的系统。所提出的局部最优控制器不同于另一种反馈和重新计算的前馈模型预测控制器，后者提供次优输入，在实时实现时需要更多的在线计算。理论论证、数值仿真和机器人控制实验都证实了我们的观点，并证明了所提出的高效可计算的约束最优反馈控制方法的适用性。
Constrained optimal feedback controllers can be used to mitigate external perturbations and modeling errors in robot control. However, these controllers require extensive calculation that is one of their main limitations in real-time implementation. Here we present two locally optimal feedback controllers that can be efficiently computed online in real-time. These controllers are applicable to systems with nonlinear dynamics, nonlinear state and control dependent cost, and box constrained control inputs. The proposed locally optimal controllers differ from alternative feedback and re-computed feed-forward model predictive controllers which provide sub-optimal inputs and require significantly more online calculation in real-time implementation. Theoretical arguments, a numerical simulation, and a robot control experiment substantiate our claims, and show the applicability of the proposed efficiently computable constrained optimal feedback control method.