Constrained Control of Networked High-Order Fully Actuated Systems via Predictive Control

Da-Wei Zhang1; Guo-Ping Liu2

10.23919/CCC55666.2022.9902832

2022

41st Chinese Control Conference (CCC)

1934-1768

978-1-6654-8256-1

2022 41st Chinese Control Conference (CCC)

4366-4371

25-27 July 2022

Hefei, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This study is concerned with the output tracking of networked high-order fully actuated (NHOFA) systems subject to input saturation and prescribed performance. A predictive control based constrained control approach is presented to cope with this issue. In this approach, an incremental HOFA prediction model is constructed via a Diophantine Equation, and then a cost function, considering input saturation and prescribed performance, is optimized by multi-step output prediction, so that an optimal constrained tracking controller is established to satisfy the tracking requirement and given constraints. Further analysis presents a simple condition of bounded stability and tracking performance of closed-loop NHOFA systems, which offers a reliable foundation for constrained coordinated control of NHOFA multiagent systems. A numerical simulation of flying-around for air-bearing simulator is shown to prove the feasibility of the proposed approach.

NHOFA Systems Constrained Control Predictive Control Bounded Stability and Tracking Performance

其他

英语

CPCI-S

National Natural Science Foundation of China["62173255","62188101"]

Automation & Control Systems

Automation & Control Systems

WOS:000932071604080

IEEE

1.Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, P. R. China
2.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, P. R. China

Da-Wei Zhang,Guo-Ping Liu. Constrained Control of Networked High-Order Fully Actuated Systems via Predictive Control[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2022:4366-4371.