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 data sets for the solution of the problem are discussed. We numerically illustrate the method on a simplified platoon of two vehicles.
Controller design for robust invariance from noisy data
Andrea Bisoffi;
2023-01-01
Abstract
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 data sets for the solution of the problem are discussed. We numerically illustrate the method on a simplified platoon of two vehicles.File in questo prodotto:
File | Dimensione | Formato | |
---|---|---|---|
J2023_[Bisoffi] Controller Design for Robust Invariance From Noisy Data.pdf
Accesso riservato
:
Publisher’s version
Dimensione
1.2 MB
Formato
Adobe PDF
|
1.2 MB | Adobe PDF | Visualizza/Apri |
11311-1226433_Bisoffi.pdf
accesso aperto
:
Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione
1.42 MB
Formato
Adobe PDF
|
1.42 MB | Adobe PDF | Visualizza/Apri |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.