A Gauss-Seidel type solver for the fast computation of input-constrained control systems

作者：Adegbege Ambrose A^*; Nelson Zachary E

来源：Systems & Control Letters, 2016, 97: 132-138.

DOI：10.1016/j.sysconle.2016.09.014

• Multivariable algebraic loop
• Gradient methods
• Projected Gauss-Seidel
• Embedded constrained control

An important class of nonlinear control systems can be represented as the feedback interconnection of two parts: a linear time-invariant system and a block of decentralized nonlinearities. When the linear time-invariant part has a nontrivial feedthrough term or the nonlinearity has a feedback gain, control computation involves the online implementation of a multivariable algebraic loop which must be resolved at each sampling instant. The requirements for such online computation may result in several implementation issues, especially in real-time and embedded control applications. This paper considers the implementation of such algebraic loops arising from several input-constrained systems. The proposed solution algorithm is globally convergent for a very large class of feedthrough or feedback gains and shows promise for real-time and embedded control applications where a fast but approximate solution is of the essence. Published by Elsevier B.V.

• 出版日期2016-11