Tracking setpoint robust model predictive control for input saturated and softened state constraints

• Published in: International journal of control, automation, and systems Vol. 9; no. 5; pp. 958 - 965
• Main Authors: Minh, Vu Trieu, Hashim, Fakhruldin Bin Mohd
• Format: Journal Article
• Language: English
• Published: Heidelberg Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.10.2011; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Comparative analysis; Control; Control systems; Engineering; Equality; Linear matrix inequalities; Lyapunov functions; Mathematical models; Mechatronics; Predictive control; Robotics; Simulation; Studies; Systems stability; Technical Notes and Correspondence; Terminals; Tracking; 제어계측공학; robust model predictive control; uncertain systems; tracking setpoints; Min-max control law; softened state constraints
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-011-0517-4

This paper starts with a brief review of robust model predictive control (RMPC) schemes for uncertain systems using linear matrix inequalities (LMIs) subject to input saturated and softened state constraints. However when RMPC has both input and state constraints, difficulties will arise due to the inability to satisfy the state constraints. In this paper, we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. A brief comparative simulation of the two new RMPC schemes is implemented via examples to demonstrate the ability of the new RMPC schemes.