Data-driven design of safe control for polynomial systems

Autor:	Luppi, Alessandro, Bisoffi, Andrea, De Persis, Claudio, Tesi, Pietro
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control Mathematics - Dynamical Systems Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	We consider the problem of designing an invariant set using only a finite set of input-state data collected from an unknown polynomial system in continuous time. We consider noisy data, i.e., corrupted by an unknown-but-bounded disturbance. We derive a data-dependent sum-of-squares program that enforces invariance of a set and also optimizes the size of the invariant set while keeping it within a set of user-defined safety constraints; the solution of this program directly provides a polynomial invariant set and a state-feedback controller. We numerically test the design on a system of two platooning cars.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2112.12664 Zobrazit plný text záznamu View this record from Arxiv