Restricted-Complexity Characterization of Control-Invariant Domains with Application to Lateral Vehicle Dynamics Control

Gupta, Ankit,1988Chalmers tekniska högskola,Chalmers University of Technology (författare)

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.

Köroglu, Hakan,1971Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)hakanko (författare)
Falcone, Paolo,1977Chalmers tekniska högskola,Chalmers University of Technology(Swepub:cth)falcone (författare)
Chalmers tekniska högskola (creator_code:org_t)

Ingår i:IEEE Conference on Decision and Control2018-January, s. 4946-49519781509028733

Av författaren/redakt...: Gupta, Ankit, 19 ...; Köroglu, Hakan, ...; Falcone, Paolo, ...

Om ämnet

TEKNIK OCH TEKNOLOGIER: TEKNIK OCH TEKNO ...; och Elektroteknik oc ...; och Reglerteknik

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