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Efficient solutions for robust control problems

Paper Authors:

Jad Wehbeh,

Eric C. Kerrigan


Key Details

Extends previous local reduction method for robust control

Considers existence constraints and non-unique trajectories

Casts problems as standard semi-infinite programs

Generates optimal uncertainty sets for solutions

Provides examples in MPC, saturation, estimation

AI generated summary

Efficient solutions for robust control problems

This paper extends previous methods for solving robust optimal control problems, which optimize system performance under worst-case uncertainties. The new approach handles additional complexities like existence constraints and non-unique solutions. Examples demonstrate the method on obstacle avoidance, input saturation, and parameter estimation. Locally optimal, constraint-satisfying solutions are obtained without needing global optimization.

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