スペクトル部分多様体を用いた非線形周期制御
Using Spectral Submanifolds for Nonlinear Periodic Control
スペクトル部分多様体理論を活用し、高次元非線形システムのモデル低減を行い、フィードバック制御器を効率的に設計する手法を提案した。
著者: Florian Mahlknecht, John Irvin Alora, Shobhit Jain, Edward Schmerling, Riccardo Bonalli, George Haller, Marco Pavone
分類: math.OC, cs.RO, cs.SY, eess.SY
原文アブストラクト
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element methods. The complexity of these systems present computational challenges for direct application to automatic control. While model reduction has seen ubiquitous applications in control, the use of nonlinear model reduction methods in this setting remains difficult. The problem lies in preserving the structure of the nonlinear dynamics in the reduced order model for high-fidelity control. In this work, we leverage recent advances in Spectral Submanifold (SSM) theory to enable model reduction under well-defined assumptions for the purpose of efficiently synthesizing feedback controllers.
