Controller Design for Robust Invariance From Noisy Data

• 成果类型: Article
• 署名作者: Bisoffi, Andrea; De Persis, Claudio; Tesi, Pietro
• 署名单位: University of Groningen; University of Florence
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3170373
• 发表日期: 2023
• 页码: 636-643
• 关键词: 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

摘要

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.