论文标题
线性系统通过乘法噪声的强大控制设计
Robust Control Design for Linear Systems via Multiplicative Noise
论文作者
论文摘要
数十年来，稳健的稳定性和随机稳定性在对照理论中分别看到了激烈的研究。在这项工作中，我们建立了这些属性之间的关系，用于离散时间系统，并将其用于稳健的控制设计。具体而言，我们检查了一个乘法噪声框架，该噪声框架对基于模型的学习控制方法（例如自适应控制和增强学习）中产生的系统动力学的固有不确定性和变化进行了建模。我们提供的结果可以保证在标称动力学上的扰动以及产生最大稳健控制器的算法方面的稳健度。
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control design. Specifically, we examine a multiplicative noise framework which models the inherent uncertainty and variation in the system dynamics which arise in model-based learning control methods such as adaptive control and reinforcement learning. We provide results which guarantee robustness margins in terms of perturbations on the nominal dynamics as well as algorithms which generate maximally robust controllers.
