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Gupta, Ankit,1988Chalmers tekniska högskola,Chalmers University of Technology
(författare)
Restricted-Complexity Characterization of Control-Invariant Domains with Application to Lateral Vehicle Dynamics Control
- Artikel/kapitelEngelska2017
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LIBRIS-ID:oai:research.chalmers.se:f75c8577-200a-40fa-b3a0-16ae79f2c368
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https://doi.org/10.1109/CDC.2017.8264391DOI
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https://research.chalmers.se/publication/253456URI
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https://research.chalmers.se/publication/500909URI
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Språk:engelska
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Sammanfattning på:engelska
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Ämneskategori:kon swepub-publicationtype
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Ämneskategori:ref swepub-contenttype
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This paper proposes two algorithms to find a restricted-complexity robust control invariant (RCI) set along with a state-feedback gain. These algorithms are applicable to a linear system with additive disturbances subject to found polytopic state and input constraints. The RCI set is a polytope with restricted complexity, symmetric around the origin. Using a state transformation, novel LMI conditions are derived for the system constraints and invariance condition. Moreover, a new approach is proposed to iteratively increase the volume of the computed RCI set. The effectiveness of the proposed algorithm is illustrated by using lateral vehicle dynamics control example.
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Köroglu, Hakan,1971Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)hakanko
(författare)
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Falcone, Paolo,1977Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)falcone
(författare)
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Chalmers tekniska högskola
(creator_code:org_t)
Sammanhörande titlar
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Ingår i:IEEE Conference on Decision and Control2018-January, s. 4946-49519781509028733
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