Controller Design for Robust Invariance From Noisy Data

DOI10.1109/TAC.2022.3170373MaRDI QIDQ6137553zbMATH OpenFDO

Authors Andrea Bisoffi, C. De Persis, Pietro Tesi

Publication date 4 September 2023

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2007.13181

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Abstract: For an unknown linear system, starting from noisy open-loop 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 data sets for the solution of the problem are discussed. A numerical example about a simplified platoon of two vehicles illustrates the method.

Cited in

(9)

• From Noisy Data to Feedback Controllers: Nonconservative Design via a Matrix S-Lemma
• Designing a suboptimal controller with active data accumulation
• Near-Optimal Design of Safe Output-Feedback Controllers From Noisy Data
• Data-driven design of safe control for polynomial systems
• Compensating for noise and perturbances in linear object control
• Data-driven stabilization of switched and constrained linear systems
• Online adaptation of data-driven controllers for unknown nonlinear systems
• Robust data-driven control of LPV systems with safety guarantees
• Data-driven dynamic controller synthesis for discrete-time general nonlinear systems

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