Sangam: A Confluence of Knowledge Streams

Robust output feedback control with guaranteed constraint satisfaction

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dc.contributor Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
dc.creator Sadraddini, Sadra
dc.creator Tedrake, Russell L
dc.date 2022-11-22T17:20:42Z
dc.date 2021-03-02T16:01:28Z
dc.date 2022-11-22T17:20:42Z
dc.date 2020-04
dc.date 2021-02-24T15:34:40Z
dc.date.accessioned 2023-02-17T20:07:53Z
dc.date.available 2023-02-17T20:07:53Z
dc.identifier 9781450370189
dc.identifier https://hdl.handle.net/1721.1/130045.2
dc.identifier 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
dc.identifier.uri http://localhost:8080/xmlui/handle/CUHPOERS/242122
dc.description 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.
dc.format application/pdf
dc.language en
dc.publisher Association for Computing Machinery (ACM)
dc.relation http://dx.doi.org/10.1145/3365365.3382211
dc.relation Proceedings of the 23rd International Conference on Hybrid Systems: Computation and Control
dc.rights 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.
dc.source ACM
dc.title Robust output feedback control with guaranteed constraint satisfaction
dc.type Article
dc.type http://purl.org/eprint/type/ConferencePaper


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