| Full text | |
| Author(s): |
Bueno, Jose Nuno A. D.
;
Rocha, Kaio D. T.
;
Marcos, Lucas B.
;
Terra, Marco H.
;
IEEE
Total Authors: 5
|
| Document type: | Journal article |
| Source: | 2022 30TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED); v. N/A, p. 6-pg., 2022-01-01. |
| Abstract | |
We propose a mode-independent recursive regulator for discrete-time Markov jump linear systems with polytopic uncertainties. Based on an indicator function, we define an augmented system which encompasses all possible Markov modes. The use of a penalty parameter allows us to formulate the control problem as a special case of least-squares optimization with uncertain data. The recursive solution is robust and yields the mode-independent feedback gains to stabilize the augmented system. We recover, thereafter, the states and inputs of the original system from the augmented variables. We also provide a numerical example to validate the proposed method and compare it to an alternative technique. (AU) | |
| FAPESP's process: | 17/16346-4 - Communication network fault tolerant control for coordinated movement of heterogeneous robots |
| Grantee: | Kaio Douglas Teófilo Rocha |
| Support Opportunities: | Scholarships in Brazil - Doctorate (Direct) |
| FAPESP's process: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment |
| Grantee: | Marco Henrique Terra |
| Support Opportunities: | Research Projects - Thematic Grants |
| FAPESP's process: | 21/08103-0 - Cooperative autonomous control of heterogeneous vehicle systems |
| Grantee: | Lucas Barbosa Marcos |
| Support Opportunities: | Scholarships in Brazil - Technical Training Program - Technical Training |