US 9,804,580 B2 · Feasible tracking control of machine

Abstract

A method for controlling an operation of a machine determines a feasible region for states of the machine and states of the reference trajectory defined by constraints of the machine, constraints on a reference trajectory and constraints on bounds of a tracking error and selects a subset of the feasible region, such that for any state of the machine and any state of the reference trajectory within the subset, there is an admissible control maintaining the state of the machine within the subset for all admissible future states of the reference trajectory determined by the model and the constraints of the reference trajectory. Next, an admissible control action for controlling the operation of the machine is selected such that the state of the machine remains in the subset for all admissible future states of the reference trajectory.

Claims16

Dependent claims

A method for controlling an operation of a machine according to a model of a reference trajectory, comprising:

determining a feasible region for states of the machine and states of the reference trajectory defined by physical constraints of the machine, constraints on a reference trajectory, and constraints on bounds of a tracking error, wherein the feasible region is a time-invariant static region;
selecting a subset of the feasible region, such that for any state of the machine and any state of the reference trajectory within the subset, there is an admissible control maintaining the state of the machine within the subset for all admissible future states of the reference trajectory determined by the model and the constraints of the reference trajectory;
selecting an admissible control action for controlling the operation such that the state of the machine remains in the subset for all admissible future states of the reference trajectory;
and
controlling the operation of the machine using the admissible control action, wherein at least some steps of the method are performed using a processor.

2 more elements

A controller for controlling an operation of a machine according to a reference trajectory, comprising:

a memory storing physical constraints of the machine, constraints on the reference trajectory and constraints on bounds of a tracking error of the reference trajectory;
and
a processor for selecting a control action for controlling the operation such that a state of the machine for all admissible future states of the reference trajectory remains in a subset of the feasible region of states of the machine and states of the reference trajectory and for controlling the operation of the machine using the control action, wherein the feasible region is defined by physical constraints of the machine, constraints on the reference trajectory and constraints on bounds of a tracking error of the reference trajectory, and wherein the subset of the feasible region is a control invariant, such that for any state of the machine within the subset, there is a control maintaining the state of the machine within the subset for all admissible future states of the reference trajectory, and wherein the feasible region is a time-invariant static region.

Dependencies are inferred from the claim text.

Feasible tracking control of machine

Life of this patent

Feasible tracking control of machine

Life of this patent

Abstract

Claims16