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Robust self-triggered control for time-varying and uncertain constrained systems via reachability analysis
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0003-2338-5487
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-6046-7129
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-7309-8086
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-9940-5929
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2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 107, p. 574-581Article in journal (Refereed) Published
Abstract [en]

This paper develops a robust self-triggered control algorithm for time-varying and uncertain systems with constraints based on reachability analysis. The resulting piecewise constant control inputs achieve communication reduction and guarantee constraint satisfactions. In the particular case when there is no uncertainty, we propose a control design with minimum number of samplings over finite time horizon. Furthermore, when the plant is linear and the constraints are polyhedral, we prove that the previous algorithms can be reformulated as computationally tractable mixed integer linear programs. The method is compared with the robust self-triggered model predictive control in a numerical example and applied to a robot motion planning problem with temporal constraints.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2019. Vol. 107, p. 574-581
Keywords [en]
Constrained systems, Robust control, Self-triggered control, Reachability analysis
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-257796DOI: 10.1016/j.automatica.2019.06.015ISI: 000481723300062Scopus ID: 2-s2.0-85068268315OAI: oai:DiVA.org:kth-257796DiVA, id: diva2:1351033
Note

QC 20190913

Available from: 2019-09-13 Created: 2019-09-13 Last updated: 2019-09-13Bibliographically approved

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Gao, YulongYu, PianDimarogonas, Dimos V.Johansson, Karl H.

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  • apa
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