In this paper the problem of optimizing the output regulation of an underactuated LPV system is considered. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. The problem of finding the input that minimizes a cost function of the overall output tracking error is investigated for a special class of LPV systems that admit steady-states. Moreover, it is shown how such solution is related to the inputs associated to the singularly optimal regulation of each output.
Optimizing output regulation for a class of underactuated LPV systems / Corona, Dario; Cristofaro, Andrea; Rotondo, Damiano. - (2017), pp. 135-140. (Intervento presentato al convegno 25th Mediterranean Conference on Control and Automation (MED) tenutosi a La Valletta; Malta) [10.1109/MED.2017.7984107].
Optimizing output regulation for a class of underactuated LPV systems
Cristofaro Andrea
;
2017
Abstract
In this paper the problem of optimizing the output regulation of an underactuated LPV system is considered. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. The problem of finding the input that minimizes a cost function of the overall output tracking error is investigated for a special class of LPV systems that admit steady-states. Moreover, it is shown how such solution is related to the inputs associated to the singularly optimal regulation of each output.| File | Dimensione | Formato | |
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