Seminario Geometría, Mecánica y Control
Explicit Feedback for Constrained Nonlinear Systems. Control Aware of Limitations
Ponente: J. Á. Acosta (Dpto. de Ingeniería de Sistemas y Automática, Universidad de Sevilla)Fecha: miércoles 24 de noviembre de 2021 - 10:00Lugar: Aula Gris 2 (ICMAT)
Most of the techniques for the control of state-&-input constrained nonlinear systems can be roughly classified in two different trends. Those based on multiobjective optimization able to guarantee asymptotic achievement of tasks in a minimum-norm sense; and those based on barrier-like functions, where admissible control values force the state to evolve in a positively invariant set within the constraint. This approach yields explicit feedback and relies on the construction of a diffeomorphism describing the constraint, which maps all the trajectories to an unconstrained dynamics. Only some foundations of differential geometry and a couple of technical assumptions are necessary. Moreover, the solution allows a tradeoff between robustness and saturation, since intrinsically provides control awareness of limitations. Two applications to mechanical systems: a ship and a bio-inspired robotic manipulator with stiction, main focus of this talk and where awareness is exploited.
Email address: JAAR@US.ES