Controller Design for Robust Invariance From Noisy Data

被引：14
|
作者：
Bisoffi, Andrea [1 ]
De Persis, Claudio [1 ]
Tesi, Pietro [2 ]
机构：
[1] Univ Groningen, ENTEG & JC Willems Ctr Syst & Control, NL-9747 AG Groningen, Netherlands
[2] Univ Florence, DINFO, I-50139 Florence, Italy
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2023年 / 68卷 / 01期
关键词：
Control design; control system synthesis; data collection; data-driven control; linear feedback control systems; linear programming; linear systems; polyhedron; robustness; robust control; robust invariance; set invariance; state feedback; uncertain systems; FEEDBACK-CONTROL; SET INVARIANCE; SYSTEMS; STATE;
D O I：
10.1109/TAC.2022.3170373
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
For an unknown linear system, starting from noisy input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the state in the presence of disturbances. The main result is a necessary and sufficient condition for the existence of such a controller, and amounts to the solution of a linear program. The benefits of large and rich datasets for the solution of the problem are discussed. We numerically illustrate the method on a simplified platoon of two vehicles.
引用
收藏
页码：636 / 643
页数：8
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