This paper presents a risk-informed data-driven safe control design approach for a class of stochastic uncertain nonlinear discrete-time systems.The nonlinear system is modeled using linear parameter-varying(LPV)syste...This paper presents a risk-informed data-driven safe control design approach for a class of stochastic uncertain nonlinear discrete-time systems.The nonlinear system is modeled using linear parameter-varying(LPV)systems.A model-based probabilistic safe controller is first designed to guarantee probabilisticλ-contractivity(i.e.,stability and invariance)of the LPV system with respect to a given polyhedral safe set.To obviate the requirement of knowing the LPV system model and to bypass identifying its open-loop model,its closed-loop data-based representation is provided in terms of state and scheduling data as well as a decision variable.It is shown that the variance of the closedloop system,as well as the probability of safety satisfaction,depends on the decision variable and the noise covariance.A minimum-variance direct data-driven gain-scheduling safe control design approach is presented next by designing the decision variable such that all possible closed-loop system realizations satisfy safety with the highest confidence level.This minimum-variance approach is a control-oriented learning method since it minimizes the variance of the state of the closed-loop system with respect to the safe set,and thus minimizes the risk of safety violation.Unlike the certainty-equivalent approach that results in a risk-neutral control design,the minimum-variance method leads to a risk-averse control design.It is shown that the presented direct risk-averse learning approach requires weaker data richness conditions than existing indirect learning methods based on system identification and can lead to a lower risk of safety violation.Two simulation examples along with an experimental validation on an autonomous vehicle are provided to show the effectiveness of the presented approach.展开更多
This paper focuses on the H_∞ model reference tracking control for a switched linear parameter-varying(LPV)model representing an aero-engine. The switched LPV aeroengine model is built based on a family of linearized...This paper focuses on the H_∞ model reference tracking control for a switched linear parameter-varying(LPV)model representing an aero-engine. The switched LPV aeroengine model is built based on a family of linearized models.Multiple parameter-dependent Lyapunov functions technique is used to design a tracking control law for the desirable H_∞ tracking performance. A control synthesis condition is formulated in terms of the solvability of a matrix optimization problem.Simulation result on the aero-engine model shows the feasibility and validity of the switching tracking control scheme.展开更多
One of the first attempts to derive energy-to-peak performance criteria and state-feedback controller design problem for linear parameter-varying discrete time systems with time delay is provided. Firstly, we present ...One of the first attempts to derive energy-to-peak performance criteria and state-feedback controller design problem for linear parameter-varying discrete time systems with time delay is provided. Firstly, we present a parameter-dependent l 2-l ∞ performance criterion using a parameter-dependent Lyapunov function. Upon the conditions addressed, an improved parameter-dependent l 2-l ∞ performance criterion is established by the introduction of a slack variable, which exhibits a kind of decoupling between Lyapunov functions and system matrices. This kind of decoupling enables us to obtain more easily tractable conditions for analysis and synthesis problems. Then, the corresponding parameter-dependent state-feedback controller design is investigated upon these performance criteria, with sufficient conditions obtained for the existence of admissible controllers in terms of parameterized linear matrix inequalities. Finally, a numerical example is provided to illustrate the feasibility and advantage of the proposed controller design procedure.展开更多
This paper proposes an effective algorithm to work out the linear parameter-varying (LPV) framework autopilot for the air defense missile so as to simultaneously guarantee the closed-loop system properties globally an...This paper proposes an effective algorithm to work out the linear parameter-varying (LPV) framework autopilot for the air defense missile so as to simultaneously guarantee the closed-loop system properties globally and locally, which evidently reduces the number of unknown variables and hence increases the computational efficiency. The notion of 'robust quadratic stability' is inducted to meet the global properties, including the robust stability and robust performance, while the regional pole placement scheme together with the adoption of a model matching structure is involved to satisfy the dynamic performance, including limiting the 'fast poles'. In order to reduce the conservatism, the full block multiplier is employed to depict the properties, with all specifications generalized in integral quadratic constraint frame and finally transformed into linear matrix inequalities for tractable solutions through convex optimization. Simulation results validate the performance of the designed robust LPV autopilot and the proposed framework control method integrating with the full block multiplier approach and the regional pole placement scheme, and demonstrate the efficiency of the algorithm. An efficient algorithm for the air defense missile is proposed to satisfy the required global stability and local dynamical properties by a varying controller according to the flight conditions, and shows sufficient promise in the computational efficiency and the real-time performance of the missile-borne computer system.展开更多
基金supported in part by the Department of Navy award (N00014-22-1-2159)the National Science Foundation under award (ECCS-2227311)。
文摘This paper presents a risk-informed data-driven safe control design approach for a class of stochastic uncertain nonlinear discrete-time systems.The nonlinear system is modeled using linear parameter-varying(LPV)systems.A model-based probabilistic safe controller is first designed to guarantee probabilisticλ-contractivity(i.e.,stability and invariance)of the LPV system with respect to a given polyhedral safe set.To obviate the requirement of knowing the LPV system model and to bypass identifying its open-loop model,its closed-loop data-based representation is provided in terms of state and scheduling data as well as a decision variable.It is shown that the variance of the closedloop system,as well as the probability of safety satisfaction,depends on the decision variable and the noise covariance.A minimum-variance direct data-driven gain-scheduling safe control design approach is presented next by designing the decision variable such that all possible closed-loop system realizations satisfy safety with the highest confidence level.This minimum-variance approach is a control-oriented learning method since it minimizes the variance of the state of the closed-loop system with respect to the safe set,and thus minimizes the risk of safety violation.Unlike the certainty-equivalent approach that results in a risk-neutral control design,the minimum-variance method leads to a risk-averse control design.It is shown that the presented direct risk-averse learning approach requires weaker data richness conditions than existing indirect learning methods based on system identification and can lead to a lower risk of safety violation.Two simulation examples along with an experimental validation on an autonomous vehicle are provided to show the effectiveness of the presented approach.
基金supported by the National Natural Science Foundation of China(61304058,61233002)IAPI Fundamental Research Funds(2013ZCX03-01)
文摘This paper focuses on the H_∞ model reference tracking control for a switched linear parameter-varying(LPV)model representing an aero-engine. The switched LPV aeroengine model is built based on a family of linearized models.Multiple parameter-dependent Lyapunov functions technique is used to design a tracking control law for the desirable H_∞ tracking performance. A control synthesis condition is formulated in terms of the solvability of a matrix optimization problem.Simulation result on the aero-engine model shows the feasibility and validity of the switching tracking control scheme.
文摘One of the first attempts to derive energy-to-peak performance criteria and state-feedback controller design problem for linear parameter-varying discrete time systems with time delay is provided. Firstly, we present a parameter-dependent l 2-l ∞ performance criterion using a parameter-dependent Lyapunov function. Upon the conditions addressed, an improved parameter-dependent l 2-l ∞ performance criterion is established by the introduction of a slack variable, which exhibits a kind of decoupling between Lyapunov functions and system matrices. This kind of decoupling enables us to obtain more easily tractable conditions for analysis and synthesis problems. Then, the corresponding parameter-dependent state-feedback controller design is investigated upon these performance criteria, with sufficient conditions obtained for the existence of admissible controllers in terms of parameterized linear matrix inequalities. Finally, a numerical example is provided to illustrate the feasibility and advantage of the proposed controller design procedure.
基金supported by the National Natural Science Foundation of China(11532002)
文摘This paper proposes an effective algorithm to work out the linear parameter-varying (LPV) framework autopilot for the air defense missile so as to simultaneously guarantee the closed-loop system properties globally and locally, which evidently reduces the number of unknown variables and hence increases the computational efficiency. The notion of 'robust quadratic stability' is inducted to meet the global properties, including the robust stability and robust performance, while the regional pole placement scheme together with the adoption of a model matching structure is involved to satisfy the dynamic performance, including limiting the 'fast poles'. In order to reduce the conservatism, the full block multiplier is employed to depict the properties, with all specifications generalized in integral quadratic constraint frame and finally transformed into linear matrix inequalities for tractable solutions through convex optimization. Simulation results validate the performance of the designed robust LPV autopilot and the proposed framework control method integrating with the full block multiplier approach and the regional pole placement scheme, and demonstrate the efficiency of the algorithm. An efficient algorithm for the air defense missile is proposed to satisfy the required global stability and local dynamical properties by a varying controller according to the flight conditions, and shows sufficient promise in the computational efficiency and the real-time performance of the missile-borne computer system.