Restricted-Complexity Characterization of Control-Invariant Domains with Application to Lateral Vehicle Dynamics Control
Paper in proceedings, 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.

Constraint Control

Invariant Set

Author

Ankit Gupta

Chalmers, Signals and Systems, Systems and control, Mechatronics

Hakan Köroglu

Chalmers, Signals and Systems, Systems and control, Mechatronics

Paolo Falcone

Chalmers, Signals and Systems, Systems and control, Mechatronics

IEEE Conference on Decision and Control

4946-4951

IEEE 56th Annual Conference on Decision and Control
Melbourne, Australia,

Areas of Advance

Transport

Subject Categories

Control Engineering

DOI

10.1109/CDC.2017.8264391

More information

Latest update

8/24/2018