Controller synthesis for robust invariance of polynomial dynamical systems using linear programming

Abstract : In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an invariant set for the controlled system under all admissible disturbances. We propose a computational method to solve this problem. Given a candidate polyhedral invariant, we show that controller synthesis can be formulated as an optimization problem involving polynomial cost functions over bounded polytopes for which effective linear programming relaxations can be obtained. Then, we propose an iterative approach to compute the controller and the polyhedral invariant jointly. Each iteration of the approach mainly consists in solving two linear programs (one for the controller and one for the invariant) and is thus computationally tractable. Finally, we show with several examples the usefulness of our method in applications.
Type de document :
Article dans une revue
Systems and Control Letters, Elsevier, 2012, 61 (4), pp.506-512. 〈10.1016/j.sysconle.2012.01.004〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00765679
Contributeur : Brigitte Bidégaray-Fesquet <>
Soumis le : samedi 15 décembre 2012 - 23:14:38
Dernière modification le : vendredi 24 novembre 2017 - 13:28:16

Identifiants

Collections

Citation

Mohamed Amin Ben Sassi, Antoine Girard. Controller synthesis for robust invariance of polynomial dynamical systems using linear programming. Systems and Control Letters, Elsevier, 2012, 61 (4), pp.506-512. 〈10.1016/j.sysconle.2012.01.004〉. 〈hal-00765679〉

Partager

Métriques

Consultations de la notice

125