对于具有状态约束的不确定非线性系统,基于MPC的安全干扰排斥控制
Zhiyuan Zhang1, Maopeng Ran2, Chaoyang Dong3
1Department of Electromechanical Engineering, University of Macau, Taipa 999078, Macao Special Administrative Region of China.
ISA transactions
|August 10, 2024
概括
本研究介绍了一种安全模型预测控制 (MPC) 方法,用于不确定的非线性系统. 它增强了稳定性和干扰排斥,同时确保满足安全约束.
科学领域:
- 控制系统工程 控制系统工程
- 非线性系统动态 非线性系统动态
- 机器人和自动化 机器人和自动化
背景情况:
- 不确定的非线性系统由于建模不准确性和外部干扰,给控制带来了挑战.
- 在复杂状态约束下确保系统安全在许多应用中至关重要.
- 现有的控制方法可能难以同时解决不确定性,安全性和性能问题.
研究的目的:
- 为不确定的非线性系统制定强有力的控制策略,以保证安全和有效拒绝干扰.
- 为了提高系统稳定性和减少与平衡点的状态偏差.
- 提供一个整合状态估计,不确定性补偿和受约束控制的框架.
主要方法:
- 扩展状态观察器 (ESO) 的设计,以估计系统状态和总不确定性.
- 实时不确定性补偿使用ESO输出.
- 为补偿系统实施基于控制障碍函数 (CBF) 的模型预测控制 (MPC).
- 在使用CBF的MPC框架内整合安全约束.
主要成果:
- 拟议的控制框架保证了系统的安全性和有效的干扰排斥.
- 与基线CBF-MPC相比,系统稳定性的显著提高.
- 从平衡点开始的系统状态的减少的平方根平均值 (RMS) 误差.
- 通过严格的理论分析和模拟实验验证.
结论:
- 开发的安全MPC策略有效地处理具有复杂安全约束的不确定非线性系统.
- 拟议的方法在稳定性和准确性方面比现有方法提供了更高的性能.
- 这项研究为需要可靠和安全控制不确定的动态系统的应用提供了有价值的工具.
相关概念视频
01:07Time-Domain Interpretation of PD Control
86
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
Consider the example of control of motor torque. Initially, a positive...
86
01:26Feedback control systems
298
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
298
01:26PD Controller: Design
208
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
208
01:24PI Controller: Design
238
Proportional Integral (PI) controllers are a fundamental component in modern control systems, widely used to enhance performance and mitigate steady-state errors. They are particularly effective in applications such as automatic brightness adjustment on smartphones, where they excel at mitigating steady-state errors for step-function inputs. Unlike PD controllers, which require time-varying errors to function optimally, PI controllers leverage their integral component to address residual...
238
01:27Time and frequency -Domain Interpretation of PI Control
113
Proportional-Integral (PI) controllers are essential in many control systems to improve stability and performance. They are commonly used in everyday devices like thermostats to enhance system damping and reduce steady-state error. When the zero in the controller's transfer function is optimally placed, the system benefits significantly in terms of stability and accuracy.
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
Acting as a low-pass filter, the PI controller slows the system's response and extends settling times. This requires...
113
01:22Controller Configurations
90
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
90