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Computational method for optimal control of switched systems with input and state constraints

NONLINEAR ANALYSIS-HYBRID SYSTEMS 2017年 26卷 1-18页

作者： Wu, Xiang Zhang, Kanjian Cheng, Ming Guizhou Normal Univ Sch Math Sci Guiyang 550001 Guizhou Peoples R China Southeast Univ Sch Automat Nanjing 210096 Jiangsu Peoples R China Southeast Univ Key Lab Measurement & Control CSE Minist Educ Nanjing 210096 Jiangsu Peoples R China Southeast Univ Sch Elect Engn Nanjing 210096 Jiangsu Peoples R China

In this paper, we consider an optimal control problem of switched systems with input and state constraints. Since the complexity of such constraint and switching laws, it is difficult to solve the problem using standard optimization techniques. In addition, although conjugate gradient algorithms are very useful for solving nonlinear optimization problem, in practical implementations, the existing Wolfe condition may never be satisfied due to the existence of numerical errors. And the mode insertion technique only leads to suboptimal solutions, due to only certain mode insertions being considered. Thus, based on an improved conjugate gradient algorithm and a discrete filled function method, an improved bi-level algorithm is proposed to solve this optimization problem. Convergence results indicate that the proposed algorithm is globally convergent. Three numerical examples are solved to illustrate the proposed algorithm converges faster and yields a better cost function value than existing bi-level algorithms. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Switched systems Optimal control input and state constraints Improved conjugate gradient algorithm Filled function

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Adaptive fuzzy dynamic surface control for uncertain nonlinear systems in pure-feedback form with input and state constraints using noisy measurements

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2019年第1期50卷 104-115页

作者： Yoshimura, Toshio Univ Tokushima Dept Mech Engn Minamijosanjima Cho 2-1 Tokushima Tokushima 7708506 Japan

This paper is concerned with the design of an adaptive fuzzy dynamic surface control for uncertain nonlinear pure-feedback systems with input and state constraints using a set of noisy measurements. The design approach is described as follows. The nonlinear uncertainties are approximated by using the fuzzy logic systems at the first stage, secondly the adaptive fuzzy dynamic surface control is introduced to remove the problem of the explosion of complexity for the derivation of the adaptive fuzzy backstepping control, thirdly a new saturation function for state constraints is proposed to design the controllers based on the Lyapunov function, fourthly the number of the adjustable parameters is reduced by using the simplified extended single input rule modules, and finally the weighted least squares estimator to take the estimates for the un-measurable states and the adjustable parameters is in a simplified structure designed. The proposed approach provides effective system performance in the simulation experiment.

关键词： Adaptive fuzzy dynamic surface control uncertain nonlinear pure-feedback system input and state constraints simplified extended single input rule modules fuzzy logic system weighted least squares estimator

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Inner-Outer Loop Control for Quadrotor UAVs With input and state constraints

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2016年第5期24卷 1797-1804页

作者： Cao, Ning Lynch, Alan F. Univ Alberta Dept Elect & Comp Engn Edmonton AB T6G 1H9 Canada

The constrained control of unmanned aerial vehicles (UAVs) is a challenging task due to their nonlinear and underactuacted dynamics. This brief focuses on the position control of a quadrotor UAV with state and input constraints using an inner-outer loop control structure. The outer loop generates a saturated thrust, and the reference roll and pitch angles, while the inner loop is designed to follow these reference angles using a traditional PID controller. Assuming perfect inner loop tracking, the outer loop nested saturation controller guarantees global asymptotic stability for output regulation and tracking. The effect of nonideal inner loop tracking on closed-loop stability is analyzed. The proposed method is experimentally validated on an indoor quadrotor platform.

关键词： Flight testing inner-outer loop control structure input and state constraints nonlinear control unmanned aerial vehicles (UAVs)

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Worst-Case Secrecy Rates in MIMOME Systems under input and state constraints

Worst-Case Secrecy Rates in MIMOME Systems under Input and S...

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IEEE International Workshop on Information Forensics and Security(WIFS)

作者： Wolf, Anne Jorswieck, Eduard A. Janda, Carsten R. Tech Univ Dresden Dept Elect Engn & Informat Technol Commun Lab Commun Theory Dresden Germany

ISBN: (纸本)9781467368025

We consider the maximization of worst-case secrecy rates for a multi-antenna wiretap channel under input constraints on the transmit covariance matrix and state constraints on the eavesdropper channel. This approach yields achievable rates (and the corresponding strategies) for a definitely secure transmission, although it is assumed that the transmitter does not have perfect information about the eavesdropper channel. We study problems with unitarily invariant constraints and show how these results can be applied to problems with more general constraints. Our results are illustrated with two detailed examples.

关键词： worst-case secrecy rate optimization input and state constraints saddle-point problems unitarily invariant constraints

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Worst-Case Secrecy Rates in MIMOME Systems under input and state constraints

Worst-Case Secrecy Rates in MIMOME Systems under Input and S...

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IEEE International Workshop on Information Forensics and Security

作者： Anne Wolf Eduard A. Jorswieck Carsten R. Janda Communications Theory Communications Laboratory Department of Electrical Engineering and Information Technology Technische Universitat Dresden

ISBN: (纸本)9781467368032

关键词： Worst-case secrecy rate optimization input and state constraints Saddle-point problems Unitarily invariant constraints

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Improved Prediction Dynamics for Robust MPC

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2023年第9期68卷 5445-5460页

作者： Nguyen, Hoai-Nam Inst Polytech Paris SAMOVAR Telecom SudParis F-91128 Palaiseau France

This article proposes a new model predictive control (MPC) control scheme for polytopic uncertain and/or time-varying systems with state and input constraints. The MPC policies we consider employ: 1) the intersection of ellipsoids to characterize the domain of attraction, 2) a time-varying Lyapunov function to bound from above the cost function, 3) a tailored alternating direction method of multipliers algorithm to solve efficiently the online optimization problem. With respect to other well-known techniques, the main advantage of the new approach is the reduced conservativeness.

关键词： Ellipsoids Upper bound Symmetric matrices state feedback Interpolation Uncertainty Lyapunov methods Alternating direction method of multipliers (ADMM) input and state constraints invariant set linear matrix inequalities robust control uncertain systems

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Ellipsoidal Set-Based Extended Command Governor for Constrained Linear Systems With Bounded Disturbances

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2023年第9期68卷 5699-5705页

作者： Nguyen, Hoai-Nam Inst Polytech Paris SAMOVAR Telecom SudParis F-91120 Palaiseau France

The purposes of this paper are twofold. The first is to derive a convex formulation for optimizing the fictitious dynamics of the extended command governor strategy recently proposed in Gilbert and Ong (2011). The second purpose is to provide an efficient procedure to solve online the optimization problem of the ellipsoidal set-based command governor or the extended command governor. Two numerical examples with comparison to earlier solutions from the literature illustrate the effectiveness of the proposed algorithm.

关键词： Electrocardiography Optimization Nonlinear dynamical systems Symmetric matrices Manganese Linear systems Linear matrix inequalities Bounded disturbance command governor (CG) input and state constraints invariant set linear matrix inequality (LMI) linear system

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Novel Constrained Nonlinear Control of Vehicle Dynamics Using Integrated Active Torque Vectoring and Electronic Stability Control

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2019年第10期68卷 9564-9572页

作者： Tahouni, Amin Mirzaei, Mehdi Najjari, Behrouz Sahand Univ Technol Fac Mech Engn Tabriz *** Iran

This study deals with a new integrated control sys-tem using active torque vectoring (ATV) and electronic stability control (ESC) for enhancement of vehicle directional stability and steerability. In this system, the stabilizing yaw moment is calculated using a novel constrained nonlinear controller with both input and state constraints. The proposed controller is designed using the prediction of continuous nonlinear vehicle model. It guarantees the vehicle directional stability by restricting the side slip angle in the admissible range when the yaw rate tracks its desired response for improved steerability. The calculated yaw moment is generated as driving and braking forces by integrated ATV and ESC systems. According to the integration policy, the required yaw moment is initially generated by ATV in the rear wheels to keep the vehicle driving performance. Because of limitation of ATV, if more yaw moment is required, the ESC system applies asymmetric braking pressure to front wheels to compensate the scarcity of ATV. By the proposed strategy, the small reduction of vehicle velocity is achieved and the vehicle drivability performance is maintained. In order to determine the full capacity of ATV, the active differential dynamics is considered in this paper. Simulation studies are conducted to evaluate the efficiency of proposed constrained controller in comparing with the unconstrained controller and a conventional nonlinear model predictive controller (NMPC) developed in the recent papers using 14-DOF vehicle model. By analyzing the results, it is clear that the proposed controller is much faster and easy to solution and implementation.

关键词： Wheels Torque Friction Vehicle dynamics Engines Tires Stability analysis Optimal integrated control input and state constraints active torque vectoring electronic stability control continuous

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Adaptive fault tolerant control for a class of input and state constrained MIMO nonlinear systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2016年第2期26卷 286-302页

作者： Jin, Xu Univ Toronto Edward S Rogers Sr Dept Elect & Comp Engn Toronto ON M5S 1A1 Canada

In this work, we present a novel adaptive fault tolerant control (FTC) scheme for a class of control input and system state constrained multi-input multi-output (MIMO) nonlinear systems with both multiplicative and additive actuator faults. The input constraints can be asymmetric, and the state constraints can be time-varying. A novel tan-type time-varying Barrier Lyapunov Function (BLF) is proposed to deal with the state constraints, and an auxiliary system is designed to analyze the effect of the input constraints. We show that under the proposed adaptive FTC scheme, exponential convergence of the output tracking error into a small neighbourhood of zero is guaranteed, while the constraints on the system state will not be violated during operation. Estimation errors for actuator faults are bounded in the closed loop. An illustrative example on a two degree-of-freedom robotic manipulator is presented to demonstrate the effectiveness of the proposed FTC scheme. Copyright (C) 2015 John Wiley & Sons, Ltd.

关键词： fault tolerant control Barrier Lyapunov Function multi-input multi-output (MIMO) nonlinear system input and state constraints

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Applied nonlinear control of vehicle stability with control and state constraints

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2020年第1期234卷 191-211页

作者： Tahouni, Amin Mirzaei, Mehdi Najjari, Behrouz Sahand Univ Technol Fac Mech Engn POB 51335-1996 Tabriz Iran

For the vehicle dynamic control system, to guarantee directional stability in risky maneuvers, the side-slip angle should be restricted to the admissible range when the yaw rate tracks the proposed desired response for enhanced steerability. Meanwhile, the control input of the external yaw moment produced by asymmetric braking forces should be calculated in the practical range according to the capacity of tire forces. In the present study, a novel constrained controller with input and state constraints is developed. To this aim, a cost function consisting of predicted continuous response of yaw rate tracking error is expanded in terms of current control signal. Concurrently, the state constraint of side slip is transformed to the equivalent constraint of control signal by a novel nonlinear prediction approach. After that, the expanded performance index is analytically minimized in the presence of all input constraints to obtain the control law. The computed yaw moment is optimally distributed to asymmetric braking forces by designing a wheel slip control system. Simulation studies are conducted to evaluate the performance of proposed constrained controller compared with the unconstrained controller and a conventional nonlinear model predictive controller developed in the recent papers using a 14-degree-of-freedom vehicle model which includes suspension system dynamics. The results show that the proposed controller is much faster and easy to solve and implement.

关键词： Vehicle stability nonlinear optimal control input and state constraints nonlinear optimization prediction

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