Controller design for robust invariance from noisy data
Systems and Control
2022-05-25 v1 Systems and Control
Optimization and Control
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.
Cite
@article{arxiv.2007.13181,
title = {Controller design for robust invariance from noisy data},
author = {Andrea Bisoffi and Claudio De Persis and Pietro Tesi},
journal= {arXiv preprint arXiv:2007.13181},
year = {2022}
}