Results concerning the output regulation problem for over-actuated linear systems are presented in this paper. The focus is on the characterization of the solution of the full-information regulator problem for systems which are right-invertible (but not left-invertible) and the input operator is injective. The intrinsic redundancy in the plant model is exploited by parameterizing all solutions of the regulator equations and performing a static or dynamic optimization on the space of solutions. This approach effectively shapes the non-unique steady-state of the system so that the long-term behavior optimizes a given performance index. In particular, nonlinear cost functions that account for constraints on the inputs are considered, within the general form of a hybrid system assumed for the allocation mechanism. An example is given to illustrate the proposed methodology.

Galeani, S., Serrani, A., Varano, G., & Zaccarian, L. (2015). On input allocation-based regulation for linear over-actuated systems. AUTOMATICA, 52(febbraio), 346-354 [10.1016/j.automatica.2014.10.112].

On input allocation-based regulation for linear over-actuated systems

GALEANI, SERGIO;
2015

Abstract

Results concerning the output regulation problem for over-actuated linear systems are presented in this paper. The focus is on the characterization of the solution of the full-information regulator problem for systems which are right-invertible (but not left-invertible) and the input operator is injective. The intrinsic redundancy in the plant model is exploited by parameterizing all solutions of the regulator equations and performing a static or dynamic optimization on the space of solutions. This approach effectively shapes the non-unique steady-state of the system so that the long-term behavior optimizes a given performance index. In particular, nonlinear cost functions that account for constraints on the inputs are considered, within the general form of a hybrid system assumed for the allocation mechanism. An example is given to illustrate the proposed methodology.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Con Impact Factor ISI
output regulation; input saturation; input redundancy; control allocation
Galeani, S., Serrani, A., Varano, G., & Zaccarian, L. (2015). On input allocation-based regulation for linear over-actuated systems. AUTOMATICA, 52(febbraio), 346-354 [10.1016/j.automatica.2014.10.112].
Galeani, S; Serrani, A; Varano, G; Zaccarian, L
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/149147
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