MPC on manifolds with an application to the control of spacecraft attitude on SO(3)

被引：49

作者：

Kalabic, Uros V. ^{[1
]}

Gupta, Rohit ^{[1
]}

Di Cairano, Stefano ^{[2
]}

Bloch, Anthony M. ^{[3
]}

Kolmanovsky, Ilya V. ^{[1
]}

机构：

[1] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48109 USA

[2] Mitsubishi Elect Res Labs, Mechatron, Cambridge, MA 02139 USA

[3] Univ Michigan, Dept Math, Ann Arbor, MI 48109 USA

来源：

AUTOMATICA | 2017年 / 76卷

基金：

美国国家科学基金会;

关键词：

Model predictive control; Geometric control; Manifolds; Lie groups; Spacecraft attitude; RIGID-BODY; SYSTEMS;

D O I：

10.1016/j.automatica.2016.10.022

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 R. 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. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：293 / 300

页数：8

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