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Fallback Approximated Constrained Optimal Output Feedback Control Under Variable Parameters

Conference paper
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Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 695)

Abstract

Safety critical control problems often require the availability of fallback strategies, in case of failure of the main control scheme, sensors or actuators. Those controllers should provide safe operation or emergency shut down of the system under all circumstance. They should also be able to operate subject to reduced information, and limited computation power. We propose a verifiable and efficiently implementable output feedback controller based on an approximated explicit solution of a constrained optimal control problem. The control law is derived by solving an infinite horizon optimal control problem utilizing Al’brekht’s Method to obtain power series expansions. The feedback control law is a polynomial in terms of the measurements and estimated parameters, thus the online evaluation can be done efficiently. We provide conditions for convergence and existence of the optimal control law and the corresponding value function. Simulation results for the control of a non-linear quadcopter example show the effectiveness of the proposed strategy.

Keywords

Approximated optimal control Non-linear adaptive control Al’brekht’s method Parametric uncertainties Sensor failure 

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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021

Authors and Affiliations

  1. 1.Laboratory for Systems Theory and Automatic ControlOtto von Guericke UniversityMagdeburgGermany

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