Homogeneous control design using invariant ellipsoid method
Optimization and Control
2023-10-26 v1
Abstract
The invariant ellipsoid method is aimed at minimization of the smallest invariant and attractive set of a linear control system operating under bounded external disturbances. This paper extends this technique to a class of the so-called generalized homogeneous system by defining the homogeneous invariant/attractive ellipsoid. The generalized homogeneous optimal (in the sense of invariant ellipsoid) controller allows further improvement of the control system providing a faster convergence and better precision. Theoretical results are supported by numerical simulations and experiments.
Keywords
Cite
@article{arxiv.2310.16199,
title = {Homogeneous control design using invariant ellipsoid method},
author = {Siyuan Wang and Andrey Polyakov and Gang Zheng and Xubin Ping and Driss Boutat},
journal= {arXiv preprint arXiv:2310.16199},
year = {2023}
}