Robust output-feedback controller design via local BMI optimization

被引:146
作者
Kanev, S [1 ]
Scherer, C [1 ]
Verhaegen, M [1 ]
De Schutter, B [1 ]
机构
[1] Delft Univ Technol, Ctr Syst & Control, NL-2628 CD Delft, Netherlands
关键词
multiobjective control; robust control design; structured uncertainty; dynamic output-feedback; LMIs;
D O I
10.1016/j.automatica.2004.01.028
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
The problem of designing a globally optimal full-order output-feedback controller for polytopic uncertain systems is known to be a non-convex NP-hard optimization problem, that can be represented as a bilinear matrix inequality optimization problem for most design objectives. In this paper a new approach is proposed to the design of locally optimal controllers. It is iterative by nature, and starting from any initial feasible controller it performs local optimization over a suitably defined non-convex function at each iteration. The approach features the properties of computational efficiency, guaranteed convergence to a local optimum, and applicability to a very wide range of problems. Furthermore, a fast (but conservative) LMI-based procedure for computing an initially feasible controller is also presented. The complete approach is demonstrated on a model of one joint of a real-life space robotic manipulator. (C) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码:1115 / 1127
页数:13
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