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arXiv · 2310.16199

Homogeneous control design using invariant ellipsoid method

Siyuan Wang·Andrey Polyakov·Gang Zheng·Xubin Ping·Driss Boutat
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Abstract

The invariant ellipsoid method is aimed at minimization of the smallest invariant and attractive set of a linear control system operating under bounded external disturbances. This paper extends this technique to a class of the so-called generalized homogeneous system by defining the $\dn-$homogeneous invariant/attractive ellipsoid. The generalized homogeneous optimal (in the sense of invariant ellipsoid) controller allows further improvement of the control system providing a faster convergence and better precision. Theoretical results are supported by numerical simulations and experiments.

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Siyuan Wang, Andrey Polyakov, Gang Zheng, Xubin Ping, Driss Boutat. 2023-10-24. Homogeneous control design using invariant ellipsoid method. https://arxiv.org/abs/2310.16199

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