Closed-form and robust expressions for data-driven LQ control

Celi, Federico; Baggio, Giacomo; Pasqualetti, Fabio

doi:10.1016/j.arcontrol.2023.100916

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“…Since the actual system is indistinguishable from all others in the set, our goal is to asymptotically stabilize all systems consistent with data. We share this approach with many recent works on (direct) data driven control [2], [3], [4], [5], [6].…”

Section: Introductionmentioning

confidence: 93%

Controller Design for Robust Invariance From Noisy Data

Bisoffi

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Tesi

2023

IEEE Trans. Automat. Contr.

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For an unknown linear system, starting from noisy input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the state in the presence of disturbances. The main result is a necessary and sufficient condition for the existence of such a controller, and amounts to the solution of a linear program. The benefits of large and rich datasets for the solution of the problem are discussed. We numerically illustrate the method on a simplified platoon of two vehicles.

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