论文标题
通过稳定性保证通过实验探索的控制器设计
Controller Design via Experimental Exploration with Robustness Guarantees
论文作者
论文摘要
对于部分未知的线性系统，我们根据使用合适的测试控制器的闭环实验的测量结果提出了一种系统的控制设计方法。这些实验用于改善所达到的性能，并减少系统未知部分的不确定性。这是通过通过稳健控制的凸松弛技术的吉祥控制器的参数化来实现的，该控制器可以确保其对未知工厂的实施是安全的。这种方法允许通过使用线性分数表示框架来系统地纳入有关系统的可用知识。
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved performance and to reduce the uncertainty about the unknown parts of the system. This is achieved through a parametrization of auspicious controllers with convex relaxation techniques from robust control, which guarantees that their implementation on the unknown plant is safe. This approach permits to systematically incorporate available prior knowledge about the system by employing the framework of linear fractional representations.
