Controller synthesis for robust invariance of polynomial dynamical systems using linear programming
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Abstract: In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an invariant set for the controlled system under all admissible disturbances. We propose a computational method to solve this problem. Given a candidate polyhedral invariant, we show that controller synthesis can be formulated as an optimization problem involving polynomial cost functions over bounded polytopes for which effective linear programming relaxations can be obtained. Then, we propose an iterative approach to compute the controller and the polyhedral invariant at once. Each iteration of the approach mainly consists in solving two linear programs (one for the controller and one for the invariant) and is thus computationally tractable. Finally, we show with several examples the usefulness of our method in applications.
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Cites work
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- Set invariance in control
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Cited in
(8)- Nonlinear model predictive control based on \(K\)-step control invariant sets
- Invariance of a class of semi-algebraic sets for polynomial systems with dynamic compensators
- Synthesizing robust domains of attraction for state-constrained perturbed polynomial systems
- Automatic synthesis of piecewise linear quadratic invariants for programs
- Computation of robust control invariant sets with predefined complexity for uncertain systems
- Safe nonlinear control design for input constrained polynomial systems using sum-of-squares programming
- Computation of polytopic invariants for polynomial dynamical systems using linear programming
- scientific article; zbMATH DE number 4145759 (Why is no real title available?)
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