论文标题
对具有结构性不确定性的系统的分布式强大控制
Distributed Robust Control for Systems with Structured Uncertainties
论文作者
论文摘要
我们提出了D-PHI迭代：一种用于具有结构性不确定性的系统的分布式，局部和可扩展的稳定控制算法。该算法结合了分布式控制的系统水平合成（SLS）参数化与L1，Linf和NU稳健控制的稳定性标准。我们在模拟中表明，与LQR控制器相比，该算法达到了良好的名义性能，同时大大增加了稳健的稳定性边距。据我们所知，这是第一个用于结构化稳健控制的分布式和局部算法。此外，算法复杂性仅取决于本地社区的大小，并且独立于全球系统大小。我们还表征了不同鲁棒性标准对分布式和局部计算的适用性。
We present D-Phi iteration: an algorithm for distributed, localized, and scalable robust control of systems with structured uncertainties. This algorithm combines the System Level Synthesis (SLS) parametrization for distributed control with stability criteria from L1, LInf, and nu robust control. We show in simulation that this algorithm achieves good nominal performance while greatly increasing the robust stability margin compared to the LQR controller. To the best of our knowledge, this is the first distributed and localized algorithm for structured robust control; furthermore, algorithm complexity depends only on the size of local neighborhoods and is independent of global system size. We additionally characterize the suitability of different robustness criteria for distributed and localized computation.
