کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5000132 | 1460639 | 2017 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
MPC on manifolds with an application to the control of spacecraft attitude on SO(3)
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamics evolving on Rn are preserved and we establish a design procedure for achieving similar properties. We also demonstrate that for discrete-time dynamics on manifolds with Euler characteristic not equal to 1, there do not exist globally stabilizing, continuous control laws. The MPC law is able to achieve global asymptotic stability on these manifolds, because the MPC law may be discontinuous. We apply the method to spacecraft attitude control, where the spacecraft attitude evolves on the Lie group SO(3) and for which a continuous globally stabilizing control law does not exist. In this case, the MPC law is discontinuous and achieves global stability.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 76, February 2017, Pages 293-300
Journal: Automatica - Volume 76, February 2017, Pages 293-300
نویسندگان
UroÅ¡ V. KalabiÄ, Rohit Gupta, Stefano Di Cairano, Anthony M. Bloch, Ilya V. Kolmanovsky,