Robust output-feedback controller design via local BMI optimization
Robust output-feedback controller design via local BMI optimization
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DOI：
10.1016/j.automatica.2004.01.028
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发表时间：
2004-07
期刊：
影响因子：
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通讯作者：
S. Kanev;C. Scherer;M. Verhaegen;B. Schutter
中科院分区：
文献类型：
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作者：
S. Kanev;C. Scherer;M. Verhaegen;B. Schutter
多面体不确定系统的全局最优全阶输出反馈控制器的设计问题是一个非凸NP-Hard优化问题，对于大多数设计目标可以表示为一个双线性矩阵不等式优化问题。本文提出了一种设计局部最优控制器的新方法。它本质上是迭代的，它从任何初始可行控制器开始，在每次迭代中对适当定义的非凸函数进行局部优化。该方法具有计算效率高、收敛于局部最优解、适用范围广等特点。此外，还提出了一种基于LMI的快速(但保守的)计算初始可行控制器的方法。在真实空间机械臂的一个关节模型上演示了完整的方法。
The problem of designing a globally optimal full-order output-feedback controller for polytopic uncertain systems is known to be a non-convex NP-hard optimization problem, that can be represented as a bilinear matrix inequality optimization problem for most design objectives. In this paper a new approach is proposed to the design of locally optimal controllers. It is iterative by nature, and starting from any initial feasible controller it performs local optimization over a suitably defined non-convex function at each iteration. The approach features the properties of computational efficiency, guaranteed convergence to a local optimum, and applicability to a very wide range of problems. Furthermore, a fast (but conservative) LMI-based procedure for computing an initially feasible controller is also presented. The complete approach is demonstrated on a model of one joint of a real-life space robotic manipulator.