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Article Dans Une Revue Automatica Année : 2015

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

Résumé

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.
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Dates et versions

hal-01851139 , version 1 (29-07-2018)

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Sergio Galeani, Andrea Serrani, Gianluca Varano, Luca Zaccarian. On input allocation-based regulation for linear over-actuated systems. Automatica, 2015, 52, pp.346 - 354. ⟨10.1016/j.automatica.2014.10.112⟩. ⟨hal-01851139⟩
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