论文标题
基于增益计划的强大双重控制
Robust Dual Control based on Gain Scheduling
论文作者
论文摘要
我们提出了一种基于增益计划和性能保证的增益计划的线性时间不变系统双重控制的新型策略。这项工作依赖于确定通过勘探估计的系统参数的不确定性界限的先前结果。现有方法无法说明勘探阶段系统参数的平均值的变化，因此无法准确捕获双重效应。我们通过在控制设计中选择未来（不确定）均值作为调度变量来解决此限制。结果是一种基于半准计划的设计，该设计计算合适的勘探策略和探索阶段后具有概率二次性能界限的稳健增益制定的控制器。
We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated through exploration. Existing approaches are unable to account for changes of the mean of system parameters in the exploration phase and thus to accurately capture the dual effect. We address this limitation by selecting the future (uncertain) mean as a scheduling variable in the control design. The result is a semi-definite program-based design that computes a suitable exploration strategy and a robust gain-scheduled controller with probabilistic quadratic performance bounds after the exploration phase.
