Lyapunov-based nonlinear control of nonautonomous systems with individual input constraints

Paruchuri, Sai Tej; Pajares, Andres; Schuster, Eugenio

doi:10.1016/j.automatica.2024.111998

Lyapunov-based nonlinear control of nonautonomous systems with individual input constraints

Journal Article · Sat Dec 07 00:00:00 EST 2024 · Automatica

DOI:https://doi.org/10.1016/j.automatica.2024.111998· OSTI ID:2572027

Paruchuri, Sai Tej ^[1]; Pajares, Andres ^[2]; Schuster, Eugenio ^[1]

Lehigh University, Bethlehem, PA (United States)
General Atomics, San Diego, CA (United States)

A control algorithm that can locally stabilize a specific class of multi-input multi-output nonautonomous nonlinear dynamical systems while satisfying individual input constraints is developed. The proposed Lyapunov-based state-feedback control law inherently accounts for the actuator amplitude saturation limits without the need for computationally expensive real-time optimization techniques. In addition to the control law, a formal definition for the local “controllable region” within which the controller can asymptotically drive the system states to the origin and satisfy the input saturation limits is also presented. The nonautonomous nature of the system dynamics implies that the “controllable region” continuously evolves with time. Therefore, a sufficient condition to maintain the system states within the “controllable region” is proposed in this work to make practical implementation feasible. The effectiveness of the controller is tested for a specific control problem arising in tokamaks, which are toroidal devices that use strong magnetic fields to confine a plasma (hot ionized gas). Here, the primary emphasis of tokamak research is to regulate the plasma properties around predetermined values to achieve stable plasma confinement. Nonlinear simulations show that the proposed controller can achieve the desired plasma control objectives in a DIII-D tokamak scenario.

View Accepted Manuscript (DOE)

Research Organization:: General Atomics, San Diego, CA (United States)

Sponsoring Organization:: USDOE Office of Science (SC), Fusion Energy Sciences (FES)

Grant/Contract Number:: FC02-04ER54698; SC0010661; SC0021385

OSTI ID:: 2572027

Journal Information:: Automatica, Journal Name: Automatica Vol. 173; ISSN 0005-1098

Publisher:: ElsevierCopyright Statement

Country of Publication:: United States

Language:: English

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