约束强制
查找满足指定边界和其他约束的控制动作
自 R2021a 起
自 R2021a 起
一些控制应用情形要求控制器选择控制动作,以使被控对象状态不违反某些关键约束。在许多情况下,约束会作用于控制器不直接控制的被控对象状态。但您可以定义一个约束函数,该函数根据控制动作信号来定义约束。
Simulink® Control Design™ 软件为此类应用情形提供了以下约束强制方法。
将约束指定为被控对象状态的函数。
使用控制障碍函数指定约束。
指定无源性约束。
此功能需要 Optimization Toolbox™ 软件,以计算在约束和动作边界下最接近指定控制动作的修正控制动作。
模块
Constraint Enforcement | Modify control actions to satisfy constraints and action bounds |
Barrier Certificate Enforcement | Modify control actions to satisfy barrier certificate constraints and action bounds (自 R2022a 起) |
Passivity Enforcement | Modify control actions to satisfy passivity constraints and action bounds (自 R2023a 起) |
主题
约束强制基础知识
- Constraint Enforcement for Control Design
You can modify control actions in real-time to satisfy constraints and action bounds. - Enforce Constraints for PID Controllers
Apply a known constraint function to a PID control application using the Constraint Enforcement block. - Learn and Apply Constraints for PID Controllers
Learn and apply an unknown constraint function for a PID control application using the Constraint Enforcement block.
屏障证书强制
- Barrier Certificate Enforcement for Control Design
Modify control actions to satisfy barrier certificate constraints and action bounds. - Enforce Barrier Certificate Constraints for PID Controllers
Apply barrier certificate constraints to a PID control application using the Barrier Certificate Enforcement block. - Enforce Barrier Certificate Constraints for Adaptive Cruise Control
Enforce barrier certificate constraints for adaptive cruise control to maintain velocity and following distance. - Enforce Barrier Certificate Constraints for Collision-Free Robots
Enforce barrier certificate constraints for two robots to reach their target positions in collision-free manner. - Enforce Barrier Certificate Constraints for Collision-Free Multi-Robot System
Enforce barrier certificate constraints for three robots to reach their target positions in collision-free manner.
无源性强制
- Passivity Enforcement for Control Design
Modify control actions to satisfy passivity constraints and action bounds. - Enforce Passivity Constraints for Quadruple-Tank System
Enforce passivity constraints for water height control in a quadruple tank system. - Enforce Passivity Constraint for Flexible Beam
Enforce passivity constraints for vibration control in a flexible beam.
强化学习应用
- Train Reinforcement Learning Agent with Constraint Enforcement
Train a reinforcement learning agent with actions constrained using the Constraint Enforcement block. - Train RL Agent for Adaptive Cruise Control with Constraint Enforcement
Train a reinforcement learning agent for adaptive cruise control with enforced constraints on velocity and following distance. - Train RL Agent for Lane Keeping Assist with Constraint Enforcement
Train a reinforcement agent for lane keep assist with enforced constraints on lateral deviation.