For an unknown linear system, starting from noisy inputstate 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 / Bisoffi A.; De Persis C.; Tesi P.. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 1558-2523. - STAMPA. - (2022), pp. 1-1. [10.1109/TAC.2022.3170373]

Controller design for robust invariance from noisy data

Tesi P.
2022

Abstract

For an unknown linear system, starting from noisy inputstate 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.
2022
1
1
Bisoffi A.; De Persis C.; Tesi P.
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Utilizza questo identificatore per citare o creare un link a questa risorsa: https://hdl.handle.net/2158/1279961
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