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arXiv · 2401.03997

Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version)

Farhad Mehdifar·Lars Lindemann·Charalampos P. Bechlioulis·Dimos V. Dimarogonas
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Abstract

This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints are always decoupled and feasible, our approach can handle coupled time-varying constraints even in the presence of potential infeasibilities. First, it is shown that satisfying multiple constraints essentially boils down to ensuring the positivity of a scalar variable, representing the signed distance from the boundary of the time-varying output-constrained set. To achieve this, a single consolidating constraint is designed that, when satisfied, guarantees convergence to and invariance of the time-varying output-constrained set within a user-defined finite time. Next, a novel robust and low-complexity feedback controller is proposed to ensure the satisfaction of the consolidating constraint. Additionally, we provide a mechanism for online modification of the consolidating constraint to find a least violating solution when the constraints become mutually infeasible for some time. Finally, simulation examples of trajectory and region tracking for a mobile robot validate the proposed approach.

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Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas. 2024-01-08. Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints (extended version). https://doi.org/10.1109/tac.2024.3524276

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