Robust regret optimal control
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Published:2024-01-11
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Volume:
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ISSN:1049-8923
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Container-title:International Journal of Robust and Nonlinear Control
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language:en
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Short-container-title:Intl J Robust & Nonlinear
Author:
Liu Jietian1,
Seiler Peter1
Affiliation:
1. Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor Michigan USA
Abstract
SummaryThis paper presents a synthesis method for robust, regret optimal control. The plant is modeled in discrete‐time by an uncertain linear time‐invariant (LTI) system. An optimal non‐causal controller is constructed using the nominal plant model and given full knowledge of the disturbance. Robust regret is defined relative to the performance of this optimal non‐causal control. It is shown that a controller achieves robust regret if and only if it satisfies a robust performance condition. DK‐iteration can be used to synthesize a controller that satisfies this condition and hence achieve a given level of robust regret. The approach is demonstrated two examples: (i) a single‐input, single‐output (SISO) classical design, and (ii) an active suspension for a quarter car model. The SISO example is simple but is intended to provide insight about the robust regret control design. The quarter car example compares the robust regret controllers against regret controllers designed without plant uncertainty.
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering
Reference39 articles.
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1. Robust regret optimal control;International Journal of Robust and Nonlinear Control;2024-01-11