论文标题
使用非线性系统水平合成方法，在大规模系统中实现性能和安全性
Achieving Performance and Safety in Large Scale Systems with Saturation using a Nonlinear System Level Synthesis Approach
论文作者
论文摘要
我们提出了一类新型的非线性控制器，该类别是在最近提出的线性和非线性系统水平合成框架的案例研究中插值不同的线性控制器。非线性控制器的结构允许同时满足针对小型和大扰动制度定义的性能和安全目标。提出的控制器分布，处理延迟，稀疏致动并定位干扰。我们显示我们的非线性控制器始终优于其线性对应物在受限的LQR问题上。我们进一步证明了通过仿真基于饱和系统的拟议控制器的增强控制策略的抗垃圾属性。
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear controller allows for simultaneously satisfying performance and safety objectives defined for small- and large-disturbance regimes. The proposed controller is distributed, handles delays, sparse actuation, and localizes disturbances. We show our nonlinear controller always outperforms its linear counterpart for constrained LQR problems. We further demonstrate the anti-windup property of an augmented control strategy based on the proposed controller for saturated systems via simulation.
