Robust output feedback control with guaranteed constraint satisfaction
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3365365.3382211.pdf
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1.17 MB
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Adobe PDF
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Author(s)
Sadraddini, Sadra
Tedrake, Russell L
Date Issued
April 2020
Journal
Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control
Publisher
Association for Computing Machinery (ACM)
Citation
Sadraddini, Sadra and Russ Tedrake. "Robust output feedback control with guaranteed constraint satisfaction." Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control, April 2020, Sydney, Australia, Association for Computing Machinery, April 2020. © 2020 Association for Computing Machinery
Version
Final published version
Abstract
We propose a method to control linear time-varying (LTV) discrete-time systems subject to bounded process disturbances and measurable outputs with bounded noise, and polyhedral constraints over system inputs and states. We search over control policies that map the history of measurable outputs to the current control input. We solve the problem in two stages. First, using the original system, we build a linear system that predicts future observations using the past observations. The bounded errors are characterized using zonotopes. Next, we propose control laws based on affine maps of such output prediction errors, and show that controllers can be synthesized using convex linear/quadratic programs. Furthermore, we can add constraints on trajectories and guarantee their satisfaction for all allowable sequences of observation noise and process disturbances. Our method does not require any assumptions about system controllability and observability. The controller design does not directly take into account the state-space dynamics, and its implementation does not require an observer. Instead, partial observability is often sufficient to design a correct controller. We provide the polytopic representation of observability errors and reachable sets in the form of zonotopes. Illustrative examples are included.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1145/3365365.3382211
