Output Feedback Minimax Adaptive Control
Fuente:
arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866913492828684288 |
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| author | Kjellqvist, Olle Rantzer, Anders |
| author_facet | Kjellqvist, Olle Rantzer, Anders |
| contents | This paper formulates adaptive controller design as a minimax dual control problem. The objective is to design a controller that minimizes the worst-case performance over a set of uncertain systems. The uncertainty is described by a set of linear time-invariant systems with unknown parameters. The main contribution is a common framework for both state feedback and output feedback control. We show that for finite uncertainty sets, the minimax dual control problem admits a finite-dimensional information state. This information state can be used to design adaptive controllers that ensure that the closed-loop has finite gain. The controllers are derived from a set of Bellman inequalities that are amenable to numerical solutions. The proposed framework is illustrated on a challenging numerical example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_04115 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Output Feedback Minimax Adaptive Control Kjellqvist, Olle Rantzer, Anders Optimization and Control This paper formulates adaptive controller design as a minimax dual control problem. The objective is to design a controller that minimizes the worst-case performance over a set of uncertain systems. The uncertainty is described by a set of linear time-invariant systems with unknown parameters. The main contribution is a common framework for both state feedback and output feedback control. We show that for finite uncertainty sets, the minimax dual control problem admits a finite-dimensional information state. This information state can be used to design adaptive controllers that ensure that the closed-loop has finite gain. The controllers are derived from a set of Bellman inequalities that are amenable to numerical solutions. The proposed framework is illustrated on a challenging numerical example. |
| title | Output Feedback Minimax Adaptive Control |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2409.04115 |