modeling, control and optimization for aerospace systems
DESCRIPTION
TRANSCRIPT
![Page 1: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/1.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Modeling, Control, and Optimization
for Aerospace SystemsHYCONS Lab, Concordia University
Behzad Samadi
HYCONS Lab, Concordia University
American Control ConferenceMontreal, Canada
June 2012
![Page 2: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/2.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Outline
Motivation
Aircraft designParameter estimationModel order reductionModel based control design
Convex Optimization
Sum of Squares
Lyapunov Analysis
Controller Synthesis
Safety Verification
Polynomial Controller Synthesis
Gain Scheduling
Piecewise Smooth Systems
References
![Page 3: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/3.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Motivation
There are many problems that can be formulated as optimizationproblems:
Aircraft design
Modeling: Parameter estimation
Modeling: Model order reduction
Model based control design (Landing gear semi activesuspension)
![Page 4: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/4.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Aircraft Design
The aircraft designer wants to:
maximize rangeminimize weightmaximize lift to drag ratiominimize costminimize noisesubject to physical, geometrical, environmental, budget and safetyconstraintsMultidisciplinary Optimization (MDO) problem: aerodynamics,structure, aeroelasticity, propulsion, noise and vibration, dynamics,stability and control, manufacturing
![Page 5: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/5.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Parameter Estimation
Unmanned Rotorcraft Technology Demonstrator ARTIS at DLR(German Aerospace Center)
![Page 6: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/6.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Parameter Estimation
The dynamic equations are given by:⎡⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎣
u
v
p
q
a
b
w
r
��
𝜃
⎤⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎦=
⎡⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎣
Xu 0 0 0 Xa 0 0 0 0 −g0 Yv 0 0 0 Yb 0 0 g 0Lu Lv 0 0 0 Lb Lw 0 0 0Mu Mv 0 0 Ma 0 Mw 0 0 0
0 0 0 −1 −1𝜏f
Ab
𝜏f0 0 0 0
0 0 −1 0 Ba
𝜏f−1𝜏f
0 0 0 0
0 0 0 0 Za Zb Zw Zr 0 00 Nv Np 0 0 Nb Nw Nr 0 00 0 1 0 0 0 0 0 0 00 0 0 1 0 0 0 0 0 0
⎤⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎦
⎡⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎣
u
v
p
q
a
b
w
r
𝜑𝜃
⎤⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎦+
⎡⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎣
0 0 0 00 0 Yped 00 0 0 00 0 0 Mcol
Alat
𝜏f
Alon
𝜏f0 0
Blat
𝜏f
Blon
𝜏f0 0
0 0 0 Zcol0 0 Nped Ncol
0 0 0 00 0 0 0
⎤⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎦
⎡⎢⎢⎣𝛿lat𝛿lon𝛿ped𝛿col
⎤⎥⎥⎦
y =[u v w p q r 𝜑 𝜃
]T
![Page 7: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/7.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Parameter Estimation
Discrete time linear model:
x(k + 1) = A(𝜃)x(k) + B(𝜃)u(k)
y(k) = C (𝜃)x(k) + D(𝜃)u(k)
where x is the state vector, u denotes the input vector and y is themeasurement vector.This is a parametric model, based on physical principles. In order tohave a virtual model of the UAV, we need to find the bestparameter vector using input-output data of a few flight tests.
![Page 8: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/8.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Parameter Estimation
Assume that we are given a set of flight test data:
𝒟N = {(uft(k), yft(k)) |k = 0, . . . ,N}
The parameter estimation problem can be formulated as:
minimize𝜃,x(0)
ΣNi=1‖y(tk) − yft(tk)‖22
subject to x(k + 1) = A(𝜃)x(k) + B(𝜃)uft(k) for k = 0, . . . ,N − 1
y(k) = C (𝜃)x(k) + D(𝜃)uft(k) for k = 1, . . . ,N
![Page 9: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/9.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Model Order Reduction
After estimating the parameter vector, we have a high-orderlinear model.
To design a controller for the pitch dynamics, we don’t needall the degrees of freedom.
If G (s) is the transfer function of the original model, we needto compute G (s) such that it captures the main characteristicsof the pitch dynamics.
Model order reductoion, in this case, can be formulated as thefollowing optimization problem:
minimizeG(s)
‖G (s) − G (s)‖∞
![Page 10: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/10.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Model Based Control Design
Design a semi-active landing gear to:
maximize stability on the ground
maximize stability during taxi
minimize noise
minimize cost
minimize weight
subject to physical, geometrical, environmental, budget andsafety constraints
![Page 11: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/11.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Convex optimization problems
have extensive, useful theory
have a unique optimal answer
occur often in engineering problems
often go unrecognized
[cvxbook]
![Page 12: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/12.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Convex optimization problem
minimize f (x)
subject to x ∈ C
where f is a convex function and C is a convex set.
![Page 13: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/13.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Convex set
C ⊆ Rn is convex if
x , y ∈ C , 𝜃 ∈ [0, 1] =⇒ 𝜃x + (1− 𝜃)y ∈ C
[cvxbook]
![Page 14: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/14.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Convex function
f : Rn −→ R is convex if
x , y ∈ Rn, 𝜃 ∈ [0, 1]
⇓f (𝜃x + (1− 𝜃)y) ≤ 𝜃f (x) + (1− 𝜃)f (y)
[cvxbook]
![Page 15: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/15.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Linear programming
minimize aT0 x
subject to aTi x ≤ bi , i = 1, . . . ,m
[cvxbook]
![Page 16: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/16.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Semidefinite programming
minimize cT x
subject to x1F1 + · · · + xnFn + G ⪯ 0
Ax = b,
where P ⪯ 0 for a matrix P ∈ Rn×n means that for any vectorv ∈ Rn, we have:
vTPv ≤ 0
This is equivalent to all the eigenvalues of P being nonpositive. Pis called negative semidefinite.
![Page 17: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/17.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Why Convex Optimization?
In fact the great watershed in optimization isn’t betweenlinearity and nonlinearity, but convexity and nonconvexity (R.Tyrrell Rockafellar, in SIAM Review, 1993).
Convex optimization problems can be solved almost as quicklyand reliably as linear programming problems.
![Page 18: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/18.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Nonnegativity of polynomials
Polynomials of degree d in n variables:
p(x) , p(x1, x2, . . . , xn) =∑
k1+k2+···+kn≤d
ak1k2...knxk11 xk22 · · · xknn
How to check if a given p(x) (of even order) is globallynonnegative?
p(x) ≥ 0,∀x ∈ Rn
For d = 2, easy (check eigenvalues). What happens ingeneral?
Decidable, but NP-hard when d ≥ 4.
“Low complexity” is desired at the cost of possibly beingconservative.
[Parrilo]
![Page 19: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/19.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
A sufficient condition
A “simple” sufficient condition: a sum of squares (SOS)decomposition:
p(x) =m∑i=1
f 2i (x)
If p(x) can be written as above, for some polynomials fi , thenp(x) ≥ 0.
p(x) is an SOS if and only if a positive semidefinite matrix Qexists such that
p(x) = ZT (x)QZ (x)
where Z (x) is the vector of monomials of degree less than orequal to deg(p)/2
[Parrilo]
![Page 20: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/20.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Example
p(x , y) = 2x4 + 5y4 − x2y2 + 2x3y
=
⎡⎣cx2y2
xy
⎤⎦T ⎡⎣q11 q12 q13q21 q22 q23q13 q23 q33
⎤⎦⎡⎣cx2y2
xy
⎤⎦= q11x
4 + q22y4 + (q33 + 2q12)x2y2 + 2q13x
3y + 2q23xy3
An SDP with equality constraints. Solving, we obtain:
Q =
⎡⎣ 2 −3 1−3 5 01 0 5
⎤⎦ = LTL, L =1√2
[2 −3 10 1 3
]
And therefore p(x , y) = 12
(2x2 − 3y2 + xy)2 + 12
(y2 + 3xy)2.[Parrilo]
![Page 21: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/21.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Sum of squares programming
A sum of squares program is a convex optimization program of thefollowing form:
MinimizeJ∑
j=1
wj𝛼j
subject to fi ,0 +J∑
j=1
𝛼j fi ,j(x) is SOS, for i = 1, . . . , I
where the 𝛼j ’s are the scalar real decision variables, the wj ’s aresome given real numbers, and the fi ,j are some given multivariatepolynomials.[Prajna]
![Page 22: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/22.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Numerical Solvers
SOSTOOLS handles the general SOS programming.
MATLAB toolbox, freely available.
Requires SeDuMi (a freely available SDP solver).
Natural syntax, efficient implementation
Developed by S. Prajna, A. Papachristodoulou and P. Parrilo
Includes customized functions for several problems
[Parrilo]
![Page 23: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/23.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Global optimization
Consider for example:minx ,y
F (x , y)
with F (x , y) = 4x2 − 2110x4 + 1
3x6 + xy − 4y2 + 4y4
[Parrilo]
![Page 24: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/24.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Global optimization
Not convex, many local minima. NP-Hard in general.
Find the largest 𝛾 s.t.
F (x , y) − 𝛾 is SOS.
A semidefinite program (convex!).
If exact, can recover optimal solution.
Surprisingly effective.
Solving, the maximum value is −1.0316. Exact value.Many more details in Parrilio and Strumfels, 2001[Parrilo]
![Page 25: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/25.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Lyapunov stability analysis
To prove asymptotic stability of x = f (x),
V (x) > 0, x = 0, V (x) =
(𝜕V
𝜕x
)T
f (x) < 0, x = 0
For linear systems x = Ax , quadratic Lyapunov functionsV (x) = xTPx
P > 0, ATP + PA < 0
With an affine family of candidate Lyapunov functions V , V isalso affine.
Instead of checking nonnegativity, use an SOS condition
[Parrilo]
![Page 26: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/26.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Lyapunov stability - Jet Engine Example
A jet engine model (derived from Moore-Greitzer), with controller:
x = −y +3
2x2 − 1
2x3
y = 3x − y
Try a generic 4th order polynomial Lyapunov function.Find a V (x , y) that satisfies the conditions:
V (x , y) is SOS.
−V (x , y) is SOS.
Can easily do this using SOS/SDP techniques...[Parrilo]
![Page 27: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/27.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Lyapunov stability - Jet Engine Example
After solving the SDPs, we obtain a Lyapunov function.
[Parrilo]
![Page 28: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/28.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Lyapunov stability - Jet Engine Example
Consider the nonlinear system
x1 = −x31 − x1x23
x2 = −x2 − x21 x2
x3 = −x3 −3x3
x23 + 1+ 3x21 x3
Looking for a quadratic Lyapunov function s.t.
V − (x21 + x22 + x23 ) is SOS,
(x23 + 1)(−𝜕V
𝜕x1x1 −
𝜕V
𝜕x2x2 −
𝜕V
𝜕x3x3) is SOS,
we have V (x) = 5.5489x21 + 4.1068x22 + 1.7945x23 .
[sostools]
![Page 29: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/29.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Parametric robustness analysis - Example
Consider the following linear system
d
dt
⎡⎣cx1x2x3
⎤⎦ =
⎡⎣ −p1 1 −12− p2 2 −1
3 1 −p1p2
⎤⎦⎡⎣cx1x2x3
⎤⎦where p1 ∈ [p1, p1] and p2 ∈ [p2, p2] are parameters.
Parameter set can be captured by
a1(p) ,(p1 − p1)(p1 − p1) ≤ 0
a2(p) ,(p2 − p2)(p2 − p2) ≤ 0
[sostools]
![Page 30: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/30.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Parametric robustness analysis - Example
Find V (x ; p) and qi ,j(x ; p), such that
V (x ; p) − ‖x‖2 +∑2
j=1 q1,j(x ; p)ai (p) is SOS,
−V (x ; p) − ‖x‖2 +∑2
j=1 q2,j(x ; p)ai (p) is SOS, qi ,j(x ; p) isSOS, for i , j = 1, 2.
[sostools]
![Page 31: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/31.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Safety verification - Example
Consider the following system
x1 =x2
x2 = − x1 +1
3x31 − x2
Initial set:
𝒳0 = {x : g0(x) = (x1 − 1.5)2 + x22 − 0.25 ≤ 0}
Unsafe set:
𝒳u = {x : gu(x) = (x1 + 1)2 + (x2 + 1)2 − 0.16 ≤ 0}
[sostools]
![Page 32: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/32.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Safety verification - Example
Barrier certificate B(x)
B(x) < 0,∀x ∈ 𝒳0
B(x) > 0,∀x ∈ 𝒳u
𝜕B𝜕x1
x1 + 𝜕B𝜕x2
x2 ≤ 0
SOS program: Find B(x) and 𝜎i (x)
−B(x) − 0.1 + 𝜎1(x)g0(x) is SOS,
B(x) − 0.1 + 𝜎2(x)gu(x) is SOS,
− 𝜕B𝜕x1
x1 − 𝜕B𝜕x2
x2 is SOS
𝜎1(x) and 𝜎2(x) are SOS
[sostools]
![Page 33: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/33.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Safety verification - Example
[sostools]
![Page 34: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/34.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Nonlinear control synthesis
Consider the system
x = f (x) + g(x)u
State dependent linear-like representation
x = A(x)Z (x) + B(x)u
where Z (x) = 0 ⇔ x = 0
Consider the following Lyapunov function and control input
V (x) = ZT (x)P−1Z (x)
u(x) = K (x)P−1Z (x)
[Prajna]
![Page 35: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/35.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Nonlinear control synthesis
For the system x = A(x)Z (x) + B(x)u, suppose there exist aconstant matrix P , a polynomial matrix K (x), a constant 𝜖1 and asum of squares 𝜖2(x), such that:
vT (P − 𝜖1I )v is SOS,
−vT (PAT (x)MT (x) + M(x)A(x)P + KT (x)BT (x)MT (x) +M(x)B(x)K (x) + 𝜖2(x)I ) is SOS,
where v ∈ RN and Mij(x) = 𝜕Zi
𝜕xj(x). Then a controller that
stabilizes the system is given by:
u(x) = K (x)P−1Z (x)
Furthermore, if 𝜖2(x) > 0 for x = 0, then the zero equilibrium isglobally asymptotically stable.[Prajna]
![Page 36: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/36.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Nonlinear control synthesis - Example
Consider a tunnel diode circuit:
x1 = 0.5(−h(x1) + x2)
x2 = 0.2(−x1 − 1.5x2 + u)
where the diode characteristic:
h(x1) = 17.76x1 − 103.79x21 + 229.62x31 − 226.31x41 + 83.72x51
[Prajna]
![Page 37: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/37.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Nonlinear control synthesis - Example
[Prajna]
![Page 38: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/38.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
How conservative is SOS?
It is proven by Hilbert that “nonnegativity” and “sum ofsquares” are equivalent in the following cases.
Univariate polynomials, any (even) degree
Quadratic polynomials, in any number of variables
Quartic polynomials in two variables
When the degree is larger than two it follows that
There are signitcantly more nonnegative polynomials thansums of squares.
There are signitcantly more sums of squares than sums of evenpowers of linear forms.
[soscvx]
![Page 39: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/39.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Flutter Phenomenon
Mechanism of Flutter
Inertial Forces
Aerodynamic Forces (∝ V2) (exciting the
motion)
Elastic Forces (damping the motion)
Flutter Facts
Flutter is self-excitedTwo or more modes of motion (e.g. flexural and torsional)exist simultaneouslyCritical Flutter Speed, largely depends on torsional and flexuralstiffnesses of the structure
[flutter96]
![Page 40: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/40.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Flutter Phenomenon
[flutter96]
![Page 41: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/41.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Flutter Phenomenon
State Space Equations:
M
[h
��
]+ (C0 + C𝜇)
[h
��
]+ (K0 + K𝜇)
[h
𝛼
]+
[0
𝛼K𝛼(𝛼)
]= B𝛽o
State variables: plunge deflection (h), pitch angle (𝛼), andtheir derivatives (h and ��)
Inputs: angular deflection of the flaps (𝛽o ∈ R2)
Constraints: on states and actuators
[flutter07] [flutter98]
![Page 42: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/42.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Active Flutter Suppression
Bombardier Q400
HYCONS Lab, Concordia University
![Page 43: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/43.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
LQR Controller
Very large control inputs
R = 10I ,Q = 104I
![Page 44: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/44.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
LQR Controller
Divergence: the effect of actuator saturation
maximum admissible flap angles: 15 deg
![Page 45: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/45.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
LQR Controller
Region of attraction: plung deflection - pitch angle plane
![Page 46: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/46.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
LQR Controller
Region of attraction: plung deflection - plung deflection rate plane
![Page 47: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/47.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
LQR Controller
Region of attraction: pitch angle - pitch rate plane
![Page 48: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/48.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Nonlinear Model
Open loop:
![Page 49: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/49.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
PD Controller
Open loop:
![Page 50: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/50.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Polynomial Controller
Consider x3 and x4 as inputs of the following system:
x1 = x3
x2 = x4
Consider the controller
[x3x4
]= −10
[x1x2
]for the above system.
Similar to backstepping approach, we construct the followingLyapunov function:
V (x) =1
2
{x21 + x22 + (x3 + 10x1)2 + (x4 + 10x2)2
}Find a polynomial u(x) such that −∇V .f (x) − V (x) is SOSwhere f (x) is the vector field of the closed loop system.
![Page 51: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/51.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Polynomial Controller
smaller control inputs
![Page 52: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/52.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Polynomial Controller
Divergence: the effect of actuator saturation
maximum admissible flap angles: 15 deg
![Page 53: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/53.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Polynomial Controller
Future work:
To construct a nonlinear model of Q400
To design a nonlinear controller in order to enlarge the regionof convergence in the presence of input saturation
![Page 54: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/54.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Gain Scheduling
Design an autopilot to:
minimize steady state tracking error
maximize robustness to wind gust
subject to varying flight conditions
For controller design, consider the following issues:
Theory of Linear Systems is very rich in terms of analysis andsynthesis methods and computational tools.
Real world systems, however, are usually nonlinear.
What can be done to extend the good properties of linearsystems theory to nonlinear systems?
![Page 55: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/55.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Gain Scheduling
Gain scheduling is an attempt to address this issue
Divide and conquer
Approximating nonlinear systems by a combination of locallinear systems
Designing local linear controllers and combining them
Started in 1960s, very popular in a variety of fields fromaerospace to process control
Problem: proof of stability!
Problem: By switching between two stable linear system, youcan create an unstable system.
![Page 56: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/56.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Piecewise Smooth Systems
The dynamics of a piecewise smooth smooth (PWS) is defined as:
x = fi (x), x ∈ ℛi
where x ∈ 𝒳 is the state vector. A subset of the state space 𝒳 ispartitioned into M regions, ℛi , i = 1, . . . ,M such that:
∪Mi=1ℛi = 𝒳 , ℛi ∩ℛj = ∅, i = j
where ℛi denotes the closure of ℛi .
![Page 57: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/57.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
Conclusion
Sum of squares, conservative but much more tractable thannonnegativity
Many applications in control theory
Try your problem!
![Page 58: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/58.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
References I
[cvxbook] Convex optimmization, Stephen Boyd and LievenVandenberghe, http://www.stanford.edu/~boyd/cvxbook
[Parrilo] Certificates, convex optimization, and theirapplications, Pablo A. Parrilo, Swiss Federal Institute ofTechnology Zurich, http://www.mat.univie.ac.at/~neum/glopt/mss/Par04.pdf
[Prajna] Nonlinear control synthesis by sum of squaresoptimization: a Lyapunov-based approach, Stephen Prajna etal, the 5th Asian Control Conference, 2004
[sostools] SOSTOOLS: control applications and newdevelopments, Stephen Prajna et al, IEEE Conference onComputer Aided Control Systems Design, 2004
![Page 59: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/59.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
References II
[soscvx] A convex polynomial that is not sos-convex, Amir AliAhmadi and Pablo A. Parrilo,http://arxiv.org/pdf/0903.1287.pdf
[yalmip] YALMIP, A Toolbox for Modeling and Optimization inMATLAB, J. Löfberg. In Proceedings of the CACSDConference, Taipei, Taiwan, 2004,http://users.isy.se/johanl/yalmip
[sos] Pre- and post-processing sum-of-squares programs inpractice. J. Löfberg. IEEE Transactions on Automatic Control,54(5):1007-1011, 2009.
[dual] Dualize it: software for automatic primal and dualconversions of conic programs. J. Löfberg. OptimizationMethods and Software, 24:313 - 325, 2009.
![Page 60: Modeling, Control and Optimization for Aerospace Systems](https://reader031.vdocuments.site/reader031/viewer/2022020723/54bc53044a7959246f8b4619/html5/thumbnails/60.jpg)
Motivation Convex Optimization SOS Flutter Suppression Gain Scheduling PWS Conclusion
References III
[sedumi] SeDuMi, a MATLAB toolbox for optimization oversymmetric cones, http://sedumi.ie.lehigh.edu
[flutter96] Modeling the benchmark active control technologywindtunnel model for application to flutter suppression, M. R.Waszak, AIAA 96 - 3437, http://www.mathworks.com/matlabcentral/fileexchange/3938
[flutter98] Stability and control of a structurally nonlinearaeroelastic system, Jeonghwan Ko and Thomas W. Strganacy,Journal of Guidance, Control, and Dynamics, 21 , 718-725.
[flutter07] Nonlinear control design of an airfoil with activeflutter suppression in the presence of disturbance, S. Afkhamiand H. Alighanbari, IET Control Theory Appl., vol. 1 ,1638-1649.