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Controller Design for Robust Invariance From Noisy Data
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DOI：10.1109/TAC.2022.3170373.png)
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Abstract
En 中文
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.
Keywords:
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
Journal
IF:
7
Papers:
1.3W
Citations:
6.7W