Name
Title | ||
|---|---|---|
A Short Note on Constrained Linear Control Systems With Multiplicative Ellipsoidal Uncertainty. |
Abstract | ||
|---|---|---|
This technical note revisits the classical robust control question of how to design linear control laws for uncertain linear dynamic systems. We formulate this robust control design problem from a modern optimal control perspective which allows us to take into account control and state constraints that have to be satisfied by the closed-loop system for all possible uncertainty scenarios. The contribution of this technical note is the derivation of a conservative but computationally tractable robust control design problem formulation for the case that multiplicative uncertainties are present in the linear dynamic systems, which render the robust control problem non-convex in general. Here, our approximation technique relies on propagating ellipsoidal bounds on the reachable states of the closed-loop system. The methods developed in this technical note can also be used as a building block for tube based model predictive control schemes, where robustly designed linear control laws can help to reduce the conservatism of open-loop predictions. We illustrate the proposed techniques with a numerical case study. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TAC.2016.2551682 | IEEE Trans. Automat. Contr. |
Keywords | Field | DocType |
Uncertainty,Robust control,Robustness,Ellipsoids,Closed loop systems,Predictive control | Mathematical optimization,Optimal control,Linear-quadratic-Gaussian control,Multiplicative function,Control theory,Model predictive control,Robustness (computer science),Adaptive control,Robust control,Mathematics,Dynamical system | Journal |
Volume | Issue | ISSN |
61 | 12 | 0018-9286 |
Citations | PageRank | References |
1 | 0.38 | 13 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Boris Houska | 1 | 214 | 26.14 |
| Adeleh Mohammadi | 2 | 1 | 0.38 |
| Moritz Diehl | 3 | 1343 | 134.37 |