论文标题
来自嘈杂数据的稳健不变性的控制器设计
Controller design for robust invariance from noisy data
论文作者
论文摘要
对于一个未知的线性系统，从有限长度实验期间收集的嘈杂的开环输入状态数据开始，我们直接设计了一个线性反馈控制器，该线性反馈控制器在存在干扰的情况下保证了给定多面体一组状态的稳健不变性。主要结果是对于存在这种控制器的必要条件，构成了线性程序的解决方案。讨论了大型且丰富的数据集对问题解决方案的好处。关于两辆车的简化排的数字示例说明了该方法。
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.
