Computing Worst-Case Disturbances for Finite-Horizon Linear Time-Varying Approximations of Uncertain Systems

被引：4
|
作者：
Schweidel, Katherine S. [1 ]
Buch, Jyot R. [2 ]
Seiler, Peter J. [3 ]
Arcak, Murat [4 ]
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94708 USA
[2] Univ Minnesota, Dept Aerosp Engn & Mech, Minneapolis, MN 55455 USA
[3] Univ Michigan, Dept Elect Engn & Comp Sci, Ann Arbor, MI 48109 USA
[4] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA
来源：
IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 05期
关键词：
Uncertainty; Trajectory; Robustness; Eigenvalues and eigenfunctions; Time-varying systems; Optimization; Controllability; Uncertain systems; time-varying systems;
D O I：
10.1109/LCSYS.2020.3043843
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method is presented for computing the worst-case disturbance of a given norm for a finite-horizon linear time-varying system with a nonzero initial condition. This method is motivated by the linearized robustness analysis of a nonlinear system about a finite-horizon nominal trajectory. The system is linearized about this trajectory and interconnected with sampled model uncertainties. An additional input term to improve the fidelity of the linear interconnection is introduced and is absorbed into an augmented system with a nonzero initial condition. The method, which analyzes the robustness of the resulting interconnection to disturbance, is demonstrated on the numerical example of a two-link robot arm.
引用
收藏
页码：1753 / 1758
页数：6
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