Restricted-Complexity Characterization of Control-Invariant Domains with Application to Lateral Vehicle Dynamics Control
Paper in proceeding, 2017
This paper proposes two algorithms to find a restricted-complexity robust control invariant (RCI) set along with a state-feedback gain. These algorithms are applicable to a linear system with additive disturbances subject to found polytopic state and input constraints. The RCI set is a polytope with restricted complexity, symmetric around the origin. Using a state transformation, novel LMI conditions are derived for the system constraints and invariance condition. Moreover, a new approach is proposed to iteratively increase the volume of the computed RCI set. The effectiveness of the proposed algorithm is illustrated by using lateral vehicle dynamics control example.
Invariant Set
Constraint Control
Author
Ankit Gupta
Chalmers, Signals and Systems, Systems and control
Hakan Köroglu
Chalmers, Signals and Systems, Systems and control
Paolo Falcone
Chalmers, Signals and Systems, Systems and control
IEEE Conference on Decision and Control
Vol. 2018-January 4946-4951
978-1-5090-2873-3 (ISBN)
IEEE 56th Annual Conference on Decision and Control
Melbourne, Australia,
Melbourne, Australia,
Areas of Advance
Transport
Subject Categories
Control Engineering
DOI
10.1109/CDC.2017.8264391