Title :
A set-theoretic approach to dependable control of uncertain linear systems
Author :
De León-Cantón, Plinio ; Lunze, Jan
Author_Institution :
Inst. of Autom. & Comput. Control, Ruhr-Univ. Bochum, Bochum, Germany
Abstract :
This paper concerns the feedback control of discrete-time systems subject to disturbances and uncertainties in both model parameters and signal measurements. The main result is a new approach to design a feedback control keeping the system state in a target set. Techniques on invariant polyhedra are extended in order to incorporate the assumption of unknown-but-bounded uncertainties and disturbances. The method is illustrated by a mobile robot experiment.
Keywords :
control system synthesis; discrete time systems; feedback; linear systems; set theory; uncertain systems; dependable control; discrete-time system; feedback control design; invariant polyhedra; model parameter; set-theoretic approach; signal measurement; uncertain linear system; Automatic control; Automation; Control design; Control systems; Feedback control; Linear systems; Mobile robots; Set theory; State-space methods; Uncertainty;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164586
