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Lyapunov-based nonlinear control of nonautonomous systems with individual input constraints
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DOI：10.1016/j.automatica.2024.111998.png)
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Abstract
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A control algorithm that can locally stabilize a specific class of multi-input multi-output nonautonomous nonlinear dynamical systems while satisfying individual input constraints is developed. The proposed Lyapunov-based state-feedback control law inherently accounts for the actuator amplitude saturation limits without the need for computationally expensive real-time optimization techniques. In addition to the control law, a formal definition for the local controllable regionwithin which the controller can asymptotically drive the system states to the origin and satisfy the input saturation limits is also presented. The nonautonomous nature of the system dynamics implies that the controllable regioncontinuously evolves with time. Therefore, a sufficient condition to maintain the system states within the controllable regionis proposed in this work to make practical implementation feasible. The effectiveness of the controller is tested for a specific control problem arising in tokamaks, which are toroidal devices that use strong magnetic fields to confine a plasma (hot ionized gas). The primary emphasis of tokamak research is to regulate the plasma properties around predetermined values to achieve stable plasma confinement. Nonlinear simulations show that the proposed controller can achieve the desired plasma control objectives in a DIII-D tokamak scenario. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keywords:
Control with input constraints
State-feedback control
Plasma control in tokamaks
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5.9
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1.1W
Citations:
5.2W
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