Probabilistic control of switched linear systems with chance constraints
Probabilistic control of switched linear systems with chance constraints
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具有机会约束的切换线性系统的概率控制
DOI：
10.1109/ecc.2016.7810592
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
O. Stursberg
中科院分区：
文献类型：
--
作者：
Leonhard Asselborn;O. Stursberg
本文提出了一种基于随机设置中可达集计算的不确定离散时间切换线性系统的集到集转换的算法综合控制策略的方法。假设初始状态和扰动呈正态分布，时变混合控制律使系统稳定朝向设定的目标。该算法解决方案通过树搜索计算离散状态序列，并通过求解嵌入式半定程序（SDP）获得连续控制。这些程序考虑了多面输入约束以及时变概率状态约束。其中包含一个示例，用于演示解决方案过程的原理，重点是处理机会约束。
This paper proposes an approach to algorithmically synthesize control strategies for set-to-set transitions of uncertain discrete-time switched linear systems based on reachable set computations in a stochastic setting. The initial state and disturbances are assumed to be normally distributed, and a time-variant hybrid control law stabilizes the system towards a goal set. The algorithmic solution computes sequences of discrete states via tree search, and the continuous controls are obtained from solving embedded semi-definite programs (SDP). These programs take polytopic input constraints as well as time-varying probabilistic state constraints into account. An example for demonstrating the principles of the solution procedure with focus on handling the chance constraints is included.