论文标题
通过系统级综合控制具有乘法噪声的线性二次系统的凸优化方法
A Convex Optimization Approach for Control of Linear Quadratic Systems with Multiplicative Noise via System Level Synthesis
论文作者
论文摘要
本文提出了一种基于凸优化的解决方案,用于设计带有乘法噪声的不确定离散时间系统的状态反馈控制器,以求解线性二次调节器(LQR)问题。为了综合可进行的解决方案,最近开发的系统级合成(SLS)框架被利用。结果表明,SLS将控制器的合成任务从可靠的控制器的设计转移到整个设置值闭环系统响应的设计。为此,闭环系统响应完全以概率的设定值图从添加剂噪声到控制动作和状态的概率。然后,开发了对可实现的设置值闭环响应的双层凸优化,以优化LQR成本的预期值与最差的闭环系统响应。解决此强大优化问题的解决方案可能过于保守,因为它旨在为所有可能的系统实现执行设计约束。为了解决这个问题,接下来,提出的优化问题是由偶然受限的计划(CCP)重新审议的,在该计划中,保证并非以确定性的满足感对所有可能的闭环系统响应的确定性意义,而是旨在以概率的满足感对所有人(除了一小部分系统响应)中的满意度。为了近似解决CCP,而无需了解系统矩阵中不确定性的概率描述,采用了所谓的场景优化方法,该方法是基于有限数量的系统实现的概率保证,并导致convex优化程序具有适度的计算复杂性。最后,提出数值模拟以说明理论发现。
This paper presents a convex optimization-based solution to the design of state-feedback controllers for solving the linear quadratic regulator (LQR) problem of uncertain discrete-time systems with multiplicative noise. To synthesize a tractable solution, the recently developed system level synthesis (SLS) framework is leveraged. It is shown that SLS shifts the controller synthesis task from the design of a robust controller to the design of the entire set-valued closed-loop system responses. To this end, the closed-loop system response is entirely characterized by probabilistic set-valued maps from the additive noise to control actions and states. A bi-level convex optimization over the achievable set-valued closed-loop responses is then developed to optimize the expected value of the LQR cost against the worst-case closed-loop system response. The solution to this robust optimization problem may be too conservative since it aims at enforcing the design constraints for all possible system realizations. To deal with this issue, the presented optimization problem is next reformulated as a chance-constrained program (CCP) in which the guarantees are not intended in a deterministic sense of satisfaction against all possible closed-loop system responses, but are instead intended in a probabilistic sense of satisfaction against all but a small fraction of the system responses. To approximately solve the CCP without the requirement of knowing the probabilistic description of the uncertainty in the system matrices, the so-called scenario optimization approach is employed, which provides probabilistic guarantees based on a finite number of system realizations and results in a convex optimization program with moderate computational complexity. Finally, numerical simulations are presented to illustrate the theoretical findings.