Suboptimal LMI-based Solution of Minimum Time Control Problem

Andrey Polyakov 1 Jean-Pierre Richard 2, 1, 3
1 NON-A - Non-Asymptotic estimation for online systems
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189, Inria Lille - Nord Europe
2 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : The problem of time optimal control design is considered for a chain of integrators. The suboptimal solution based on Implicit Lyapunov Function (ILF) method is presented in the form of continuous stabilizing feedback. The Semi-Definite Programming (SDP) problem with the constraints in the form of Linear Matrix Inequalities (LMI) is obtained for tuning the optimal parameters. The suboptimal solution is compared with the minimum discontinuous feedback on numerical example.
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https://hal.inria.fr/hal-00977875
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Andrey Polyakov, Jean-Pierre Richard. Suboptimal LMI-based Solution of Minimum Time Control Problem. IFAC World Congress, Aug 2014, Cape Town, South Africa. ⟨hal-00977875⟩

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