Backstepping for Set-valued Upper Control Laws and its Application to Control Allocation Problem

• Suzuki Daiki

  Graduate School of Information Science and Technology, Hokkaido University

• Yamashita Yuh

  Graduate School of Information Science and Technology, Hokkaido University

Bibliographic Information

Other Title

• 集合値で表される上位制御則に対するバックステッピングと入力分配問題への応用
• シュウゴウチ デ アラワサレル ジョウイ セイギョソク ニ タイスル バックステッピング ト ニュウリョク ブンパイ モンダイ エ ノ オウヨウ

Abstract

This paper provides a new framework of control allocation of over-actuated system for static optimization of inputs via dynamical extension and potential approach. The static optimization of the control allocation is performed in real-time approximately, by varying the input according to the potential. To ensure asymptotic stability of the controlled system, we extends the backstepping method to our cases where more flexible additional potential can be used. Under the conditions on the set of the minimizer, the growth rate around the set, and the unimodality of the additional potential with some auxiliary assumptions, the extended potential function becomes a control Lyapunov function of the augmented system. The effectiveness of the proposed method is demonstrated by simulations.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 29 (4), 175-181, 2016

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• control allocation
• backstepping
• dynamic extension

Details

• CRID: 1390282680145331328
• NII Article ID: 130005165103
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.29.175
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 027243161
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I027243161
• Web Site: https://www.jstage.jst.go.jp/article/iscie/29/4/29_175/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed