Controller Design for Robust Invariance From Noisy Data
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Publication:6137553
DOI10.1109/TAC.2022.3170373arXiv2007.13181MaRDI QIDQ6137553FDOQ6137553
C. De Persis, Andrea Bisoffi, Pietro Tesi
Publication date: 4 September 2023
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/2007.13181
Cited In (6)
- Designing a suboptimal controller with active data accumulation
- Near-Optimal Design of Safe Output-Feedback Controllers From Noisy Data
- From Noisy Data to Feedback Controllers: Nonconservative Design via a Matrix S-Lemma
- Data-driven design of safe control for polynomial systems
- Data-driven stabilization of switched and constrained linear systems
- Compensating for noise and perturbances in linear object control
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