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

页码：636 / 643

页数：8

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