Work

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

Year: 2024

Type: article

Abstract: This article introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order multi-input–multi-output (MIMO) nonlinear control systems. Unlike existing methods, which often assume that the constraints are always decoupled and feasible, our approach can handle coupled time-varying constraints even in the presence of potential infeasibilities. First, it is shown that satisfying multiple constraints essentially boils down to ensuring the positivity of a scalar variable, representing the signed distance from the boundary of the time-varying output-constrained set. To achieve this, a single consolidating constraint is designed that, when satisfied, guarantees convergence to and invariance of the time-varying output-constrained set within a user-defined finite time. Next, a novel robust and low-complexity feedback controller is proposed to ensure the satisfaction of the consolidating constraint. Additionally, we provide a mechanism for online modification of the consolidating constraint to find a least violating solution when the constraints become mutually infeasible for some time. Finally, a simulation study validates the proposed approach.

Source: IEEE Transactions on Automatic Control

DOI: 10.1109/tac.2024.3524276

Authors: Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas

Institutions: KTH Royal Institute of Technology, University of Southern California, University of Patras

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $1,168

Funders: Vetenskapsrådet, Hellenic Foundation for Research and Innovation