Department of Mechanical Engineering & Mechanics Drexel ...hgk22/courses/MEM636_638/Lecture04... ·...
Transcript of Department of Mechanical Engineering & Mechanics Drexel ...hgk22/courses/MEM636_638/Lecture04... ·...
ControllabilityHarry G. Kwatny
Department of Mechanical Engineering & MechanicsDrexel University
Outline Affine Systems Controllability Controllability Distributions Controllability Rank Condition
Examples
Affine Systems
1( ) ( ) ( ) ( )
( ), ,
m
i ii
n p m
x f x G x u f x g x u
y h xx R y R u R
=
= + = +
=
∈ ∈ ∈
∑
Controllability xf is U-reachable from x0 if given a neighborhood U of x0 containing xf,
there exists tf>0 and u(t) on [0,tf] such that x0 goes to xf along a trajectory contained entirely in U.
The system is locally reachable from x0 if for each neighborhood U of x0 the set of states U-reachable from x0 contains a neighborhood of x0. If the reachable set contains merely an open set the system is locally weakly reachable from x0 .
The system is locally (weakly) controllable if it is locally (weakly) reachable from every initial state.
R. Hermann and A. J. Krener, "Nonlinear Controllability and Observability," IEEE Transactions on Automatic Control, vol. 22, pp. 728-740, 1977
0x
0x
neighborhood
Openset
Controllability Distributions{ }
{ }1 1
1 1
, , , span , , ,
, , , span , ,O
C m m
C m m
f g g f g g
f g g g g
∆ =
∆ =
{ }{ } { }
{ }
, satisfy
span
a regular point of span ( ) span ( ) ( )
if and span are of constant dim, then
dim dim 1
O
O
O O
O O
O
C C
C C
C C C
C C
C C
f
x f x f x x
f
∆ ∆
− ∆ + ⊆ ∆
− ∆ + ⇒ ∆ + = ∆
− ∆ ∆ +
∆ − ∆ ≤
Controllability Rank Condition
Proposition:A necessary and sufficient condition for the system to be locally weakly controllable is
A necessary and sufficient condition for the system to be locally controllable is
( )0 0dim , nC x n x R∆ = ∀ ∈
( )0 0 0dim , n
C x n x R∆ = ∀ ∈
Example: Linear System Controllability
[ ]
[ ]
( ) , ( ) , 1, ,
,
, 0 ,
,
0
,
,
n m
i i
ii i i
i j
f x Ax g x b i mb AxAx b Ax
x Ax Bu x R u
b Abx x
b b A
R
x Ax
= = =∂ ∂
= − =
= + ∈
∂ ∂ = =
∈
Example: Linear System Continued{ }
{ }
{ }{ }0
0
1
1
1
span
span
span
span
kk
nC
B
B AB
B AB A B
CH Thm B AB A B
−
−
∆ =
∆ =
∆ =
− ⇒ ∆ =
{ }
{ }
0
1
span ,
span , , , nC
Ax B
Ax B AB A B−
∆ =
∆ =
[ ]0
1 11
1
,
stop when
qk k i ki
k k
τ− −=
−
∆ = ∆
∆ = ∆ + ∆
∆ = ∆∑
Example: Wheeled Robot
cos 0sin 0
0 1
x
xvd y
dt
θθ
ωθ
=
driverotate
θ
x
y
body fixed frame
space frame (x,y)
xv
caster wheel
independent drive wheels
d
dlF
rF
Wheeled Robot 3
{ }0
2
23
1 0span drive,rotate tan , 0
1
1 0 0tan , 0 sec
1 0
0span drive,rotate, sec
0I
θθ
θ θθ
θ
∆ = =
=
=
sideslip
1
2
3
45
6
6
Implementing Lie Bracket
1v
2v
Add
Example: Extended Wheeled RobotThe extended system includes dynamics and , :
0 0cos 0 0sin 0 0
0 00 0 10 1 0
x
x
x
z F z u
x vy v udv z Tdt
z
θ ωθθ
ω
= =
= +
wheeledvehicle
1s
u F
T
xyθ
Example: Extended Wheeled Robot - 2
0
0 0
1 0 00 1 0
span , , , , rank 6 controllable at generic state
0 0 1
1 0 0 00 1 00 tan 0
span , , ,0 0 10 0 00 0 0
C
C x
θ=
∆ = ⇒
∆ =
00 00 0
, , rank 5 uncontrollable at 00 01 00 1
x
⇒ =
Actually, this is true not only at the origin,but at any point with and both zero.For generic points with only 0,the system is controllable.
x
x
vvω
=
Example: Parking
x b
y b
φ
(x,y)
v
θ
x
y
steering & drive wheel
body fixed frame
space frame 1
2
cos( ) 0sin( ) 0
sin 00 1
xuydudt
φ θφ θ
φ θθ
+ + =
drive
steer
1 2,u v u ω= =
Parking, Continued
{ }
{ }
( )( )( )
( )( )( )
1 1
1 1
, , , span , , ,
, , , span , ,
0 0cos cos0 0sin sin
, span ,0 0sin sin1 10 0
O
O
C m m
C m m
C C
f g g f g g
f g g g g
φ θ φ θφ θ φ θθ θ
∆ =
∆ =
+ + + + ∆ = ∆ =
Example: Parking, new directions from Lie bracket
[ ]
[ ]
sin( )cos( )
,cos
0
sincos
,00
wriggle steer drive
slide wriggle drive
θ φθ φθ
φφ
− + + = =
− = =
Parking, Continued( )( )( )
0 sin( ) sincos0 cos( ) cossin
span , , ,0 cos 0sin1 0 00
1 0 0 00 1 0 0
, , ,0 0 1 00 0 0 1
θ φ φφ θθ φ φφ θθθ
− + − + ++
Recall Lie Bracket Interpretation as Commutator of Flows
Let us consider the Lie bracket as a commutator of flows. Beginning at point xin M follow the flow generated by v for an infinitesimal time which we take asfor convenience. This takes us to point
Then follow w for the same length of time, then -v, then -w. This brings us to apoint ψ given by
ε
xy )exp( vε=
( , )x e e e e xε ε ε εψ ε − −= w v w v
Example: Parking, implementation
(x,y)
θ
x b
y b
φ
v
wriggle=steer+drive-steer-drive
slide=wriggle+drive-wriggle-drive
More Controllability Distributions
{ }{ }0
0 1
span , ,1 ,0 1
span ,
( ) , ,
1 ,
(
0 1
)
k
k kv v v
L f i
kL f i
f ad g i m k n
ad g i m k
ad w ad v ad w
n
w − = =
∆ = ≤ ≤ ≤ ≤ −
∆ = ≤ ≤ ≤ −
≤
0 0
C L
C L
weak local controllability n n
local controllability n n
⇔ ∆ = ⇐ ∆ =⇑ ⇑ ⇑
⇔ ∆ = ⇐ ∆ =
What is missing in these earlier attemptsto obtain a controllability determinationis any Lie Brackets between fields , . They are sufficient but not necessaryconditions for controllability.
i jg g
Example: Linear Systems Revisited
{ }{ }0 0
1
1
( ) , ( )
span , , , ,
span , , ,
nC L
nC L
f x Ax G x B
Ax B AB A B
B AB A B
−
−
= =
∆ = ∆ =
∆ = ∆ =
Controllability Hierarchy
( ) ( )
( ) ( )0 0
0 0
0 0
1
dim dim
dim dim
dim
C L
C L
n
weak local controllability x n x n
local controllability x n x n
linear controllability B AB A B n−
⇐ ∆ = ⇐ ∆ =⇑ ⇑ ⇑
⇐ ∆ = ⇐ ∆ =⇑
⇔ =
{ }
{ }
{ }{ }0
1 1
1 1
, , , span , , ,
, , , span , ,
span , ,1 ,0 1
span ,1 ,0 1
O
C m m
C m m
kL f i
kL f i
f g g f g g
f g g g g
f ad g i m k n
ad g i m k n
∆ =
∆ =
∆ = ≤ ≤ ≤ ≤ −
∆ = ≤ ≤ ≤ ≤ −