We present in this paper preliminary results and research directions concerning the output regulation problem for over-actuated linear systems. The focus of the paper is on the characterization of the solution of the full-information regulator problem for systems which are right-invertible but not left-invertible, where the input operator is injective. The intrinsic redundancy in the plant model is exploited by parameterizing all solutions of the ensuing 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. Examples are given to illustrate and validate the proposed methodology.

On linear over-actuated regulation using input allocation

Zaccarian, Luca
2011-01-01

Abstract

We present in this paper preliminary results and research directions concerning the output regulation problem for over-actuated linear systems. The focus of the paper is on the characterization of the solution of the full-information regulator problem for systems which are right-invertible but not left-invertible, where the input operator is injective. The intrinsic redundancy in the plant model is exploited by parameterizing all solutions of the ensuing 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. Examples are given to illustrate and validate the proposed methodology.
2011
Conference on Decision and Control
USA
IEEE-CSS
S., Galeani; A., Serrani; G., Varano; Zaccarian, Luca
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/67169
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