| Autor: |
Luppi, Alessandro, Bisoffi, Andrea, De Persis, Claudio, Tesi, Pietro |
| Zdroj: |
European Journal of Control; 20230101, Issue: Preprints |
| Abstrakt: |
We consider the safe control problem of designing a robustly invariant set using only a finite set of data collected from an unknown input-affine polynomial system in continuous time. We consider input/state/state derivative data that are noisy, i.e., are corrupted by an unknown-but-bounded disturbance. We derive a data-dependent sum-of-squares program that enforces robust invariance of a set and also optimizes the size of that set while keeping it within a set of user-defined safety constraints; the solution of this program, obtained by alternation of the decision variables, directly provides a polynomial robustly invariant set and a state-feedback controller. We numerically test the design on a system of two platooning vehicles. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
|
Full Text from ScienceDirect