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Restricted-Complexity Characterization of Control-Invariant Domains with Application to Lateral Vehicle Dynamics Control

Ankit Gupta (Institutionen för signaler och system, Mekatronik) ; Hakan Köroğlu (Institutionen för signaler och system, Mekatronik) ; Paolo Falcone (Institutionen för signaler och system, Mekatronik)
IEEE Conference on Decision and Control (2017)
[Konferensbidrag, refereegranskat]

This paper proposes two algorithms to find a restricted-complexity robust control invariant (RCI) set along with a state-feedback gain. These algorithms are applicable to a linear system with additive disturbances subject to found polytopic state and input constraints. The RCI set is a polytope with restricted complexity, symmetric around the origin. Using a state transformation, novel LMI conditions are derived for the system constraints and invariance condition. Moreover, a new approach is proposed to iteratively increase the volume of the computed RCI set. The effectiveness of the proposed algorithm is illustrated by using lateral vehicle dynamics control example.



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Denna post skapades 2017-11-30.
CPL Pubid: 253456

 

Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Transport
Reglerteknik

Chalmers infrastruktur