Interpolation based predictive control by ellipsoidal invariant sets

A new interpolating control scheme for uncertain linear systems is developed. The interpolation is done between two saturated control laws, each given with its associated invariant set. A linear search is performed to compute a sub-optimal interpolation coefficient. Two algorithms are suggested — ea...

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Bibliographic Details
Published inIFAC Journal of Systems and Control Vol. 12; p. 100084
Main Authors Rubin, Daniel, Mercader, Pedro, Gutman, Per-Olof, Nguyen, Hoai-Nam, Bemporad, Alberto
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.06.2020
Subjects
Constrained control
Linear time variant systems
Mathematics
Predictive control
Uncertain systems
Uncertain systems
Linear time variant systems
Constrained control
Predictive control
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ISSN2468-6018
2468-6018
DOI10.1016/j.ifacsc.2020.100084

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Summary:A new interpolating control scheme for uncertain linear systems is developed. The interpolation is done between two saturated control laws, each given with its associated invariant set. A linear search is performed to compute a sub-optimal interpolation coefficient. Two algorithms are suggested — each incorporating a different optimization objective. The method guarantees robust stability and recursive feasibility, also in presence of persistent disturbances.
ISSN:2468-6018
2468-6018
DOI:10.1016/j.ifacsc.2020.100084