论文标题
对具有不对称输入约束的非线性系统的最佳控制及其对无人机绕道问题的应用
Optimal control of nonlinear systems with unsymmetrical input constraints and its applications to the UAV circumnavigation problem
论文作者
论文摘要
在本文中，引入了一种新颖的设计方案，以解决具有不对称和状态依赖性输入约束的非线性系统的最佳控制问题。通过将初始稳定控制策略作为构建的最佳控制策略的基准引入最初的稳定控制策略，我们可以删除当前研究中对自适应最佳控制的假设，即，当系统状态处于原点时，内部动力学应保持零。特别是，研究了具有部分不确定动态的非线性控制系统，并提供了相应的最佳控制策略的程序。封闭环动力学的稳定性和获得的控制策略的最佳性都证明了这一点。此外，我们将提出的控制设计框架应用于基于固定翼无人驾驶飞机（UAV）的累积费舍尔信息来解决最佳的周期性问题。将算法的控制性能与数值仿真中现有的绕组控制策略的控制性能进行了比较。
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of the constructed optimal control policy, we remove the assumption in the current study for the adaptive optimal control, that is, the internal dynamics should hold zero when the state of the system is in the origin. Particularly, nonlinear control systems with partially-unknown dynamics are investigated and the procedure to acquire the corresponding optimal control policy is presented. The stability for the closed-loop dynamics and the optimality of the obtained control policy are both proved. Besides, we apply the proposed control design framework to solve the optimal circumnavigation problem based on the accumulative Fisher information for a fixed-wing unmanned aerial vehicle (UAV). The control performance of our algorithm is compared with that of the existing circumnavigation control policy in a numerical simulation.
