Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems

DOI10.1109/TAC.2018.2885477zbMATH Open1482.93256arXiv1706.08932OpenAlexW2964266805MaRDI QIDQ5228301FDOQ5228301

Emmanouil Tzorakoleftherakis, T. D. Murphey

Publication date: 12 August 2019

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: This paper presents iterative Sequential Action Control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by introducing constant control values applied for short duration. Application of a contractive constraint on the cost is shown to lead to closed-loop asymptotic stability under mild assumptions. The effect of asymptotically decaying disturbances on system trajectories is also examined. To demonstrate the applicability of iSAC to a variety of systems and conditions, we employ five different systems, including a 13-dimensional quaternion-based quadrotor. Each system is tested in different scenarios, ranging from feasible and infeasible trajectory tracking, to setpoint stabilization, with or without the presence of external disturbances. Finally, limitations of this work are discussed.

Full work available at URL: https://arxiv.org/abs/1706.08932

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Applications of optimal control and differential games (49N90) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20)

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