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EnglishA relevant family of control analysis and design problems can be reduced to the minimisation of a multivariate polynomial objective over a semialgebraic set. Such control problem formulations, however, are nonconvex in general and hard to solve in practice. In this paper, we propose a novel approach to polynomial control design based on iterations that involve either a fast coordinate-wise minimisation or a univariate minimisation along a randomly chosen direction. We provide a detailed iteration complexity analysis of the method, and we prove its convergence in probability to the global optimum. The practical effectiveness of the proposed method is also illustrated via a comparison with state-of-the-art tools available in the literature. An example of application to an automated space rendezvous manoeuvre is finally presented, showing how the method can be particularly relevant in the context of nonlinear model predictive control.
Control analysis and design via randomised coordinate polynomial minimisation / Calafiore, G. C.; Novara, C.; Possieri, C.. - In: INTERNATIONAL JOURNAL OF CONTROL. - ISSN 0020-7179. - (2020), pp. 1-15. [10.1080/00207179.2020.1782476]
| Titolo: | Control analysis and design via randomised coordinate polynomial minimisation | |
| Autori: | ||
| Data di pubblicazione: | 2020 | |
| Rivista: | ||
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1080/00207179.2020.1782476 | |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
File in questo prodotto:
| File | Descrizione | Tipologia | Licenza | |
|---|---|---|---|---|
| IJC_polymin_postprint.pdf | 2. Post-print / Author's Accepted Manuscript |  | Visibile a tuttiVisualizza/Apri | |
| Novara-Control.pdf | 2a Post-print versione editoriale / Version of Record | Non Pubblico - Accesso privato/ristretto | Administrator Richiedi una copia |
http://hdl.handle.net/11583/2854580
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