Control of nonlinear systems under time-varying output constraints

Paper Title:

Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints

Published on:

8 January 2024

Primary Category:

Systems and Control

Paper Authors:

Farhad Mehdifar,

Lars Lindemann,

Charalampos P. Bechlioulis,

Dimos V. Dimarogonas

Bullets

Key Details

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Proposes method to handle coupled, time-varying output constraints for nonlinear systems

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Consolidates constraints into a single one representing signed distance to feasible set boundary

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Designs robust, low-complexity feedback controller to maintain positivity of consolidating constraint

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Provides online adaptation to find least violating solutions during infeasibilities

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Validates approach through mobile robot trajectory/region tracking examples

Explore the topics in this paper

constrained control

mobile robotics

nonlinear control systems

robust control

uncertain systems

AI generated summary

Control of nonlinear systems under time-varying output constraints

This paper introduces a control method to ensure satisfaction of potentially coupled, time-varying output constraints for uncertain, high-order nonlinear systems. It consolidates all constraints into one that represents the signed distance to the boundary of the time-varying feasible set. A robust, low-complexity feedback controller is proposed to maintain this constraint's positivity, ensuring convergence/invariance of the feasible set. An online adaptation mechanism handles temporary infeasibilities. Simulation examples validate the approach, including trajectory/region tracking for a mobile robot.