Csomay-Shanklin, Noel and Taylor, Andrew J. and Rosolia, Ugo and Ames, Aaron D. (2022) Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368
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Abstract
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet traditional constructive methods for nonlinear controller synthesis typically "flatten" this hierarchy, focusing on a single time scale, and thereby limited the ability to make rigorous guarantees on constraint satisfaction that hold for the entire system. In this work we seek to address the stabilization of constrained nonlinear systems through a \textit{multi-rate} control architecture. This is accomplished by iteratively planning continuous reference trajectories for a nonlinear system using a linearized model and Model Predictive Control (MPC), and tracking said trajectories using the full-order nonlinear model and Control Lyapunov Functions (CLFs). Connecting these two levels of control design in a way that ensures constraint satisfaction is achieved through the use of \textit{Bézier curves}, which enable planning continuous trajectories respecting constraints by planning a sequence of discrete points. Our framework is encoded via convex optimization problems which may be efficiently solved, as demonstrated in simulation.
Item Type: | Report or Paper (Discussion Paper) | ||||||||||
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Additional Information: | This work is supported by the National Science foundation (CPS Award #1932091, NRI Award #1924526, CMMI Award #1923239)), and the AFOSR Test and Evaluation Program (FA9550-19-1-0302). | ||||||||||
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Record Number: | CaltechAUTHORS:20220714-194248368 | ||||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20220714-194248368 | ||||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||||
ID Code: | 115559 | ||||||||||
Collection: | CaltechAUTHORS | ||||||||||
Deposited By: | George Porter | ||||||||||
Deposited On: | 15 Jul 2022 22:38 | ||||||||||
Last Modified: | 15 Jul 2022 22:38 |
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