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Computation of Robu...
Computation of Robust Control Invariant Sets with Predefined Complexity for Uncertain Systems
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- Gupta, Ankit, 1988 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Köroglu, Hakan, 1971 (författare)
- Universiteit Twente,University of Twente
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- Falcone, Paolo, 1977 (författare)
- Chalmers tekniska högskola,Chalmers University of Technology
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(creator_code:org_t)
- 2020-12-24
- 2021
- Engelska.
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Ingår i: International Journal of Robust and Nonlinear Control. - : Wiley. - 1099-1239 .- 1049-8923. ; 31:5, s. 1674-1688
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Abstract
Ämnesord
Stäng
- This paper presents an algorithm that computes polytopic robust control-invariant (RCI) sets for rationally parameter-dependent systems with additive disturbances. By means of novel LMI feasibility conditions for invariance along with a newly developed method for volume maximization, an iterative algorithm is proposed for the computation of RCI sets with maximized volumes. The obtained RCI sets are symmetric around the origin by construction and have a user-defined level of complexity. Unlike many similar approaches, fixed state feedback structure is not imposed. In fact, a specific control input is obtained from the LMI problem for each extreme point of the RCI set. The outcomes of the proposed algorithm can be used to construct a piecewise-affine controller based on offline computations.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Linear matrix inequalities (LMI)
- Semi-definite program (SDP)
- Linear systems
- Invariant set
- Linear fractional transformation (LFT)
Publikations- och innehållstyp
- art (ämneskategori)
- ref (ämneskategori)
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