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首页> 外文期刊>International Journal of Robust and Nonlinear Control >Full-complexity polytopic robust control invariant sets for uncertain linear discrete-time systems
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Full-complexity polytopic robust control invariant sets for uncertain linear discrete-time systems

机译：不确定线性离散时间系统的全复杂性多粒子鲁棒控制不变集

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摘要

This paper presents an algorithm for the computation of full-complexity polytopic robust control invariant (RCI) sets, and the corresponding linear state-feedback control law. The proposed scheme can be applied for linear discrete-time systems subject to additive disturbances and structured norm-bounded or polytopic uncertainties. Output, initial condition, and performance constraints are considered. Arbitrary complexity of the invariant polytope is allowed to enable less conservative inner/outer approximations to the RCI sets whereas the RCI set is assumed to be symmetric around the origin. The nonlinearities associated with the computation of such an RCI set structure are overcome through the application of Farkas' theorem and a corollary of the elimination lemma to obtain an initial polytopic RCI set, which is guaranteed to exist under certain conditions. A Newton-like update, which is recursively feasible, is then proposed to yield desirable large/small volume RCI sets.
机译：本文介绍了一种计算全复杂性多拓控制不变（RCI）集的算法，以及相应的线性状态反馈控制法。 所提出的方案可以应用于与添加剂干扰和结构性规范或多种子质不确定性的线性离散时间系统。 输出，初始条件和性能约束是考虑的。 不变多托的任意复杂度允许使RCI集的较少保守的内/外近似，而RCI集被认为是对称的原点。 通过应用Farkas的定理和消除引理的试验性的计算来克服与计算这种RCI集合结构相关联的非线性，以获得初始多粒子RCI集合，其保证在某些条件下存在。 然后提出了一种又一次是可行性的牛顿更新，以产生理想的大/小卷RCI集。

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