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arXiv · 2309.01814

Data-Driven Computation of Robust Invariant Sets and Gain-Scheduled Controllers for Linear Parameter-Varying Systems

Manas Mejari·Ankit Gupta·Dario Piga
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Abstract

We present a direct data-driven approach to synthesize robust control invariant (RCI) sets and their associated gain-scheduled feedback control laws for linear parameter-varying (LPV) systems subjected to bounded disturbances. A data-set consisting of a single state-input-scheduling trajectory is gathered from the system, which is directly utilized to compute polytopic RCI set and controllers by solving a semidefinite program. The proposed method does not require an intermediate LPV model identification step. Through a numerical example, we show that the proposed approach can generate RCI sets with a relatively small number of data samples when the data satisfies certain excitation conditions.

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Manas Mejari, Ankit Gupta, Dario Piga. 2023-09-04. Data-Driven Computation of Robust Invariant Sets and Gain-Scheduled Controllers for Linear Parameter-Varying Systems. https://doi.org/10.1109/lcsys.2023.3329291

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