A Nonlinear Control Allocation Framework for Complez Decentralized Cooperation Control System

摘要：

Control allocation problem is the key of cooperation control systems and has attracted a lot of attention of researchers. This paper proposes a nonlinear control allocation framework to provide a common optimal solution for decentralized cooperation control systems. By decomposing the control allocation problem into static optimal problem and dynamic stabilizing/tracking problem, an effective way to design the allocation controller and feedback control law is given in the paper. The allocation controller is designed to realize some control strategy and the feedback control law provides asymptotic stability for the entire framework. Also, they are implemented decentralizedly and can adapt to complex nonlinear control allocation scenes. Thus it is easy to apply and is very suitable for various complex decentralized control applications such as multiple robots cooperation, network congestion control, supply and demand equilibrium control of free market and so on. In addition, it seems to be a promise method to solve large-scale optimal control problems.

关键词： Nonlinear control Decentralized control Optimization Cooperation control

作者: Weirong Liu Min Wu Jun Peng Guojun Wang

作者单位: School of Information Science and Engineering,Central South University,Changsha 410083,China Beijing 100080

会议类型: 国际会议

会议名称: 2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)

会议地点: 广西桂林

会议语种:英文

页码: 5013-5018

在线出版日期: 2009-06-17（万方平台首次上网日期，不代表论文的发表时间）