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

来源：

AUTOMATICA | 2004年 / 40卷 / 07期

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

页码：1115 / 1127

页数：13

共 57 条

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[22] Global optimization for the biaffine matrix inequality problem [J].