Fully Actuated System Approaches: Predictive Elimination Control for Discrete-Time Nonlinear Time-Varying Systems With Full State Constraints and Time-Varying Delays

Wang, Xiubo1; Duan, Guangren1,2

2023-10-01

10.1109/TCSI.2023.3323454

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS   Impact Factor & Quartile

1549-8328

1558-0806

This paper concentrates on the optimal tracking control for a discrete-time nonlinear time-varying fully-actuated system (FAS) with full state constraints and time-varying delays. An explicit analytical predictive controller is constructed by incorporating the predictive control scheme and the constraint elimination technique into FAS approaches. The proposed PEC-FAS scheme dexterously eliminates full state constraints without introducing new constraints and uncertainties, makes full use of full-actuation property to compensate the time-delay actively. Especially, it reduces the coupling degree of the states, and eliminates the nonlinearities arising from the original system and constraints elimination process simultaneously. These efforts largely improve the solvability of the strongly nonlinear and coupled optimization problem with constraints and time-delay. Meanwhile, by analytically expressing the predictive information by off-line calculation, the nonlinear optimization problem is converted into a series of linear convex optimization problems without constraints and time-delay, which fundamentally mitigates the computational burden and the design complexity compared with the previous nonlinear predictive control approaches. Theoretically, it is demonstrated that the proposed controller is recursively feasible, which also owns a recursive explicit analytical predictive controller sequence in each predictive horizon, and the tracking error system is asymptotically stable under the certain condition with predictive parameters. Finally, the simulation of a benchmark under-actuated application of a rotational translational actuator (RTAC) system, demonstrates the effectiveness and the simplicity of the proposed PEC-FAS scheme.

Optimization Predictive control Time-varying systems Predictive models Delays Nonlinear systems Complexity theory Fully actuated system approaches predictive elimination control full state constraints time-varying delays nonlinear discrete-time system benchmark under-actuated application

SCI

English

Corresponding

Science Center Program of the National Natural Science Foundation of China[62188101] ; Major Program of National Natural Science Foundation of China["61690210","61690212"] ; National Natural Science Foundation of China[62073096] ; Self-Planned Task of State KeyLaboratory of Robotics and System, Harbin Institute of Technology[SKLRS201716A]

Engineering

Engineering, Electrical & Electronic

WOS:001092324100001

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

ENGINEERING

Web of Science

1.Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin 150001, Peoples R China
2.Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen 518055, Peoples R China

Wang, Xiubo,Duan, Guangren. Fully Actuated System Approaches: Predictive Elimination Control for Discrete-Time Nonlinear Time-Varying Systems With Full State Constraints and Time-Varying Delays[J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS,2023.

Wang, Xiubo,&Duan, Guangren.(2023).Fully Actuated System Approaches: Predictive Elimination Control for Discrete-Time Nonlinear Time-Varying Systems With Full State Constraints and Time-Varying Delays.IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS.

Wang, Xiubo,et al."Fully Actuated System Approaches: Predictive Elimination Control for Discrete-Time Nonlinear Time-Varying Systems With Full State Constraints and Time-Varying Delays".IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS (2023).