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Multi-Rate Planning and Control of Uncertain Nonlinear Systems: Model Predictive Control and Control Lyapunov Functions

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 (Unpublished)

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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)
Related URLs:
URLURL TypeDescription Paper
Csomay-Shanklin, Noel0000-0002-2361-1694
Taylor, Andrew J.0000-0002-5990-590X
Rosolia, Ugo0000-0002-1682-0551
Ames, Aaron D.0000-0003-0848-3177
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).
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-19-1-0302
Record Number:CaltechAUTHORS:20220714-194248368
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:115559
Deposited By: George Porter
Deposited On:15 Jul 2022 22:38
Last Modified:15 Jul 2022 22:38

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