论文标题
Lipschitz非线性系统的共同设计
Co-Design of Lipschitz Nonlinear Systems
论文作者
论文摘要
经验经验表明，同时（而不是常规的顺序）植物和控制器设计程序可改善植物资源的性能和节省。这种同时的合成过程称为“共同设计”。在这封信中，我们研究了具有二次控制目标和状态反馈控制器的一类Lipschitz非线性动力学系统的共同设计问题。我们建议对共同设计优化问题的新型时间独立重新重新重新制定，该问题的约束确保了系统的稳定性。我们还提出了一个基于梯度的共设计解决方案过程，该过程涉及系统坐标转换，并且其输出对于原始系统是稳定的解决方案。我们通过单链机器人的共同设计显示了解决方案程序的功效。
Empirical experiences have shown that simultaneous (rather than conventional sequential) plant and controller design procedure leads to an improvement in performance and saving of plant resources. Such a simultaneous synthesis procedure is called as "co-design". In this letter we study the co-design problem for a class of Lipschitz nonlinear dynamical systems having a quadratic control objective and state-feedback controller. We propose a novel time independent reformulation of the co-design optimization problem whose constraints ensure stability of the system. We also present a gradient-based co-design solution procedure which involves system coordinate transformation and whose output is provably stable solution for the original system. We show the efficacy of the solution procedure through co-design of a single-link robot.
