제약 조건 적용

지정된 범위와 기타 제약 조건을 충족하는 제어 동작 찾기
R2021a 이후

일부 제어 응용 분야에서는 플랜트 상태가 중요한 특정 제약 조건을 위반하지 않도록 제어기에서 제어 동작을 선택해야 합니다. 대부분의 경우 제약 조건은 제어기가 직접 제어하지 않는 플랜트 상태에 적용됩니다. 대신 제어 동작 신호 측면에서 제약 조건을 정의하는 제약 조건 함수를 정의하십시오.

Simulink^® Control Design™은 이러한 응용 분야를 위해 다음과 같은 제약 조건 적용 방법을 제공합니다.

플랜트 상태 함수로 제약 조건을 지정합니다.
제어 장벽 함수로 제약 조건을 지정합니다.
수동성 제약 조건을 지정합니다.

이 기능을 사용하려면 Optimization Toolbox™가 제약 조건과 동작 범위가 적용되면서도 지정된 제어 동작에 가장 가까운, 수정된 제어 동작을 계산해야 합니다.

블록

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 (R2022a 이후)
Passivity Enforcement	Modify control actions to satisfy passivity constraints and action bounds (R2023a 이후)

도움말 항목

제약 조건 적용 기본 사항

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.

배리어 인증서 적용

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.

수동성 적용

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.

강화 학습 응용 분야

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.