CLF-based nonlinear control with polytopic input constraints
CLF-based nonlinear control with polytopic input constraints
复制标题
具有多面输入约束的基于 CLF 的非线性控制
DOI：
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发表时间：
2003
期刊：
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通讯作者：
J. W. Curtis
中科院分区：
文献类型：
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作者：
J. W. Curtis
本文提出了一种生成高性能控制律的实用方法，保证在已知输入约束的情况下保持稳定。我们解决了一类平滑非线性系统，这些系统在具有非平滑（矩形或多面）执行器约束和已知控制李雅普诺夫函数的控制中是仿射的。我们提出了一个结果，该结果使用稳定控制值集的完整状态相关描述来逐点生成输入值集，其中包含同时服从输入约束的所有（李亚普诺夫）稳定控制值。然后使用顶点枚举算法导出该集合的完整参数化，并采用非线性程序从该可行且稳定的控制集合中选择高性能控制作为说明性示例。
This paper presents a practical method for generating high-performance control laws which are guaranteed to be stabilizing in the presence of known input constraints. We address the class of smooth non-linear systems which are affine in the control with non-smooth (rectangular or polytopic) actuator constraints and a known control Lyapunov function. We present a result which uses a complete state-dependent description of the stabilizing control value set to generate, point-wise, the set of input values which contains all the (Lyapunov) stabilizing control values that simultaneously obey the input constraints. The vertex enumeration algorithm is then used to derive a complete parameterization of this set, and a nonlinear program is employed to select a high-performance control from this feasible and stabilizing control set for an illustrative example.