Controller Design for Robust Invariance From Noisy Data
Andrea Bisoffi, Claudio De Persis, Pietro Tesi
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 datasets for the solution of the problem are discussed. We numerically illustrate the method on a simplified platoon of two vehicles.
Topics & Concepts
Control theory (sociology)Controller (irrigation)Linear systemState (computer science)Robust controlSet (abstract data type)PlatoonComputer scienceRobustness (evolution)MathematicsControl engineeringAlgorithmControl systemEngineeringControl (management)Artificial intelligenceAgronomyProgramming languageChemistryBiochemistryBiologyGeneElectrical engineeringMathematical analysisControl Systems and IdentificationFault Detection and Control SystemsAdvanced Control Systems Optimization