A Convex Parameterization of Controllers Constrained to use only Relative Measurements
arxiv(2023)
摘要
The optimal controller design problem for systems equipped with sensors that
measure only relative, rather than absolute, quantities is considered. This
relative measurement structure is formulated as a design constraint; it is
demonstrated that the resulting constrained controller design problem can be
written as a convex program. Certain additional network structural constraints
can be incorporated into this formulation, making it especially useful in
distributed or networked settings. An illustrative example highlights the
advantage of the proposed methodology over the standard formulation of the
output feedback controller design problem. A numerical example is provided.
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