Novel Algorithm/Hardware Partnerships for Real-Time Nonlinear Control
Abstract
The real-time implementation of controls in nonlinear systems remains one of the great challenges in applying advanced control technology. Often, linearization around a set point is the only practical approach, and many controllers implemented in hardware systems are simple proportional-integral-derivative (PID) feedback mechanisms. To apply Pontryagin's principle or Bellman's equation using conventional hardware and algorithms for high dimensional nonlinear systems requires more computing power than is realistic. The success of linear control theory, especially certainty equivalence and linear-quadratic-Gaussian (LQG) approaches, leads us to hope for additional gains from fully nonlinear controls. The work under this Phase II SBIR involves an innovation in computational nonlinear control that offers ground breaking potential for real-time control applications, making fully nonlinear problems solvable with the computational efficiency of linear problems. This report details the development of integrated hardware-software solutions implementing max-plus arithmetic for efficient solution of nonlinear control problems. We have developed nonlinear controls for a complex perimeter patrol problem posed by Air Force Research Lab personnel. Our general nonlinear control software package is in beta testing.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 28, 2014
- Accession Number
- ADA598335
Entities
People
- Ben G. Fitzpatrick
- Yun Wang
Organizations
- Stochastech Corporation