Design of State-Constrained Controllers for Discrete-Time Nonlinear Control Systems

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簡歷

基本資料

Project title

Code/計畫編號

MOST109-2221-E019-037

Translated Name/計畫中文名

離散時間非線性控制系統之狀態限制控制器設計

Project Coordinator/計畫主持人

Jenq-Lang Wu

Funding Organization/主管機關

National Science and Technology Council

Department/Unit

Department of Electrical Engineering

Website

https://www.grb.gov.tw/search/planDetail?id=13537337

Year

2020

Start date/計畫起

01-08-2020

Expected Completion/計畫迄

31-07-2021

Bugetid/研究經費

1001千元

ResearchField/研究領域

電子電機工程

This project tries to solve state-constrained control problems for discrete-time nonlinear control-affine systems. The state trajectories of the closed-loop systems are not allowed to enter some unsafe regions in the state space. In this project, state constraints are represented in terms of state functional inequalities. Firstly, a novel discrete-time control Lyapunov barrier function (DCLBF) method will be developed for solving the state-constrained stabilization problem for discrete-time nonlinear control-affine systems. Conditions for verifying DCLBFs will be derived. We will show that the existence of DCLBFs is sufficient for the existence of state-constrained stabilizing controllers. A formula for constructing state-constrained stabilizing controllers will be derived. In addition, the construction of DCLBFs will be discussed. Then, we consider the state-constrained H∞ control problem for discrete-time nonlinear control-affine systems. A novel discrete-time barrier storage function (DBSF) method will be developed for solving this problem. Conditions for verifying DBSFs will be derived. We will show that the existence of DBSFs is sufficient for the existence of state-constrained H∞ controllers. A formula for constructing state-constrained H∞ controllers will be proposed. In addition, the construction of DBSFs will be discussed. 本計畫將探討具多重狀態限制條件之離散時間非線性控制系統的控制器設計問題，閉迴路系統的狀態軌跡不允許進入狀態空間中某些限制區域。我們所考慮的狀態限制條件表示為多個狀態函數不等式，比文獻上考慮的限制區域一般化。我們將先發展離散時間控制Lyapunov障壁函數方法以解決具狀態限制條件的穩定控制器設計問題，將導出保證存在離散時間控制Lyapunov障壁函數的條件，並證明若控制Lyapunov障壁函數存在，則狀態限制穩定控制器必然存在。我們也將導出控制器公式以實現狀態限制穩定控制器，找到建構控制Lyapunov障壁函數的方法。其次，我們考慮有雜訊干擾的離散時間非線性控制系統，發展離散時間障壁儲存函數技巧以解決具狀態限制條件的H∞控制問題。我們將導出保證離散時間障壁儲存函數存在的條件，並證明若障壁儲存函數存在，則狀態限制H∞控制器必然存在。我們將導出控制器公式以實現狀態限制H∞控制器，也將找出建構離散時間障壁儲存函數的方法。

Keyword(s)

狀態限制
離散時間系統
非線性控制系統
控制Lyapunov函數
儲存函數
障壁法
State constraint
discrete-time systems
nonlinear control systems
control Lyapunov function
storage function
barrier method.

DSpace CRIS

Design of State-Constrained Controllers for Discrete-Time Nonlinear Control Systems

基本資料

Description