Interpolation based predictive control by ellipsoidal invariant sets

Daniel Rubin; Pedro Mercader; Per Olof Gutman; Hoai Nam Nguyen; Alberto Bemporad

doi:10.1016/j.ifacsc.2020.100084

Interpolation based predictive control by ellipsoidal invariant sets

Daniel Rubin
, Pedro Mercader
, Per Olof Gutman
, Hoai Nam Nguyen
, Alberto Bemporad

Research output: Contribution to journal › Article › peer-review

Abstract

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.

Original language	English
Journal	IFAC Journal of Systems and Control
Volume	12
DOIs	https://doi.org/10.1016/j.ifacsc.2020.100084
Publication status	Published - 1 Jun 2020
Externally published	Yes

Keywords

Constrained control
Linear time variant systems
Predictive control
Uncertain systems

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10.1016/j.ifacsc.2020.100084

Cite this

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title = "Interpolation based predictive control by ellipsoidal invariant sets",

abstract = "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.",

keywords = "Constrained control, Linear time variant systems, Predictive control, Uncertain systems",

author = "Daniel Rubin and Pedro Mercader and Gutman, \{Per Olof\} and Nguyen, \{Hoai Nam\} and Alberto Bemporad",

note = "Publisher Copyright: {\textcopyright} 2020 Elsevier Ltd",

year = "2020",

month = jun,

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language = "English",

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AU - Rubin, Daniel

AU - Mercader, Pedro

AU - Gutman, Per Olof

AU - Nguyen, Hoai Nam

AU - Bemporad, Alberto

PY - 2020/6/1

Y1 - 2020/6/1

N2 - 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.

AB - 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.

KW - Constrained control

KW - Linear time variant systems

KW - Predictive control

KW - Uncertain systems

UR - https://www.scopus.com/pages/publications/85100007439

U2 - 10.1016/j.ifacsc.2020.100084

DO - 10.1016/j.ifacsc.2020.100084

M3 - Article

AN - SCOPUS:85100007439

SN - 2468-6018

VL - 12

JO - IFAC Journal of Systems and Control

JF - IFAC Journal of Systems and Control

ER -

Interpolation based predictive control by ellipsoidal invariant sets

Abstract

Keywords

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