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    A Technique for Constrained and Quantized Control of Nonlinear Systems Using Second-Order Cone Programming

    Source: ASME Letters in Dynamic Systems and Control:;2023:;volume( 003 ):;issue: 001::page 11001-1
    Author:
    Jansson, Olli
    ,
    Harris, Matthew W.
    DOI: 10.1115/1.4056551
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper presents a novel technique for control of systems with bounded nonlinearity, convex state constraints, and control constraints. The technique is particularly useful for problems whose control constraints may be written as convex sets or the union of convex sets. The problem is reduced to finding bounding solutions associated with linear systems, and it is shown that this can be done with efficient second-order cone program (SOCP) solvers. The nonlinear control may then be interpolated from the bounding solutions. Three engineering problems are solved. These are the Van der Pol oscillator with bounded control and with quantized control, a pendulum driven by a DC motor with bounded voltage control, and a lane change maneuver with bounded rotational control acceleration. For each problem, the resulting second-order cone program solves in approximately 0.1 s or less. It is concluded that the technique provides an efficient means of solving certain control problems with control constraints.
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      A Technique for Constrained and Quantized Control of Nonlinear Systems Using Second-Order Cone Programming

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4291722
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    contributor authorJansson, Olli
    contributor authorHarris, Matthew W.
    date accessioned2023-08-16T18:15:35Z
    date available2023-08-16T18:15:35Z
    date copyright1/24/2023 12:00:00 AM
    date issued2023
    identifier issn2689-6117
    identifier otheraldsc_3_1_011001.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4291722
    description abstractThis paper presents a novel technique for control of systems with bounded nonlinearity, convex state constraints, and control constraints. The technique is particularly useful for problems whose control constraints may be written as convex sets or the union of convex sets. The problem is reduced to finding bounding solutions associated with linear systems, and it is shown that this can be done with efficient second-order cone program (SOCP) solvers. The nonlinear control may then be interpolated from the bounding solutions. Three engineering problems are solved. These are the Van der Pol oscillator with bounded control and with quantized control, a pendulum driven by a DC motor with bounded voltage control, and a lane change maneuver with bounded rotational control acceleration. For each problem, the resulting second-order cone program solves in approximately 0.1 s or less. It is concluded that the technique provides an efficient means of solving certain control problems with control constraints.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleA Technique for Constrained and Quantized Control of Nonlinear Systems Using Second-Order Cone Programming
    typeJournal Paper
    journal volume3
    journal issue1
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4056551
    journal fristpage11001-1
    journal lastpage11001-7
    page7
    treeASME Letters in Dynamic Systems and Control:;2023:;volume( 003 ):;issue: 001
    contenttypeFulltext
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