LP-Generated Control Lyapunov Functions With Application to Multicopter Control

IF 4.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-14 DOI:10.1109/TCST.2024.3396704

Huu-Thinh Do;Franco Blanchini;Stefano Miani;Ionela Prodan

引用次数: 0

Abstract

In this work, we study a technique of exploiting open-loop-generated trajectories for a constrained control problem, using them to shape suitable nonquadratic control Lyapunov functions (CLFs). These trajectories, generated offline, allow detecting a suitable domain of attraction (DOA) in which a candidate Lyapunov function has a negative derivative. Given suitably constructed basis functions, our working machinery is based on linear programming; hence, the technique can be applied to problems of nontrivial size in terms of the number of basis functions and points in the state space. For linear systems, we seek convex Lyapunov functions, which are homogeneous polynomials. Simulation and experimental results for drone control are given.

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LP 生成的控制 Lyapunov 函数在多旋翼飞行器控制中的应用

在这项工作中，我们研究了一种利用开环生成的轨迹来解决受限控制问题的技术，利用这些轨迹来塑造合适的非二次控制 Lyapunov 函数 (CLF)。这些离线生成的轨迹可以检测候选 Lyapunov 函数具有负导数的合适吸引域 (DOA)。给定适当构造的基函数，我们的工作机制基于线性编程；因此，就基函数和状态空间中点的数量而言，该技术可应用于非线性大小的问题。对于线性系统，我们寻求同次多项式的凸 Lyapunov 函数。文中给出了无人机控制的仿真和实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.