Parameter Dependent Robust Control Invariant Sets for LPV Systems with Bounded Parameter Variation Rate
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2023
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866929486805598208 |
|---|---|
| author | Mulagaleti, Sampath Kumar Mejari, Manas Bemporad, Alberto |
| author_facet | Mulagaleti, Sampath Kumar Mejari, Manas Bemporad, Alberto |
| contents | Real-time measurements of the scheduling parameter of linear parameter-varying (LPV) systems enables the synthesis of robust control invariant (RCI) sets and parameter dependent controllers inducing invariance. We present a method to synthesize parameter-dependent robust control invariant (PD-RCI) sets for LPV systems with bounded parameter variation, in which invariance is induced using PD-vertex control laws. The PD-RCI sets are parameterized as configuration-constrained polytopes that admit a joint parameterization of their facets and vertices. The proposed sets and associated control laws are computed by solving a single semidefinite programing (SDP) problem. Through numerical examples, we demonstrate that the proposed method outperforms state-of-the-art methods for synthesizing PD-RCI sets, both with respect to conservativeness and computational load. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2309_02384 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Parameter Dependent Robust Control Invariant Sets for LPV Systems with Bounded Parameter Variation Rate Mulagaleti, Sampath Kumar Mejari, Manas Bemporad, Alberto Systems and Control Real-time measurements of the scheduling parameter of linear parameter-varying (LPV) systems enables the synthesis of robust control invariant (RCI) sets and parameter dependent controllers inducing invariance. We present a method to synthesize parameter-dependent robust control invariant (PD-RCI) sets for LPV systems with bounded parameter variation, in which invariance is induced using PD-vertex control laws. The PD-RCI sets are parameterized as configuration-constrained polytopes that admit a joint parameterization of their facets and vertices. The proposed sets and associated control laws are computed by solving a single semidefinite programing (SDP) problem. Through numerical examples, we demonstrate that the proposed method outperforms state-of-the-art methods for synthesizing PD-RCI sets, both with respect to conservativeness and computational load. |
| title | Parameter Dependent Robust Control Invariant Sets for LPV Systems with Bounded Parameter Variation Rate |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2309.02384 |