Approximate Predictive Control of Polytopic Systems

Brunner, Florian D.

doi:10.3182/20140824-6-za-1003.00546

Cited by 1 publication

(1 citation statement)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It turns out that the principal observation made for the undisturbed case, that is, that the convex hull of trajectories terminating in an invariant set is control invariant, also holds in the disturbed case, the difference being that now the convex hull of tubes has to be investigated. In , this insight was used to construct a robust control scheme for uncertain linear time‐varying systems. For additive disturbances, the approach in allows to robustly control a system by essentially solving an MPC problem for the undisturbed case with tightened constraints on the input and state.…”

Section: Discussionmentioning

confidence: 99%

Stabilizing model predictive control: On the enlargement of the terminal set

Brunner

Lazăr

2014

Int. J. Robust. Nonlinear Control

Self Cite

View full text Add to dashboard Cite

SUMMARYIt is well known that a large terminal set leads to a large region where the model predictive control problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Different from existing approaches, the method uses the convex hull of trajectories as the basis for the construction. These trajectories may be any feasible trajectories of the system terminating in an invariant set that contains the origin and are not restricted to consist of equilibrium points only. The resulting terminal controller is the solution of an optimization problem depending on the state and is therefore in general a nonlinear function.

show abstract

Section: Discussionmentioning

confidence: 99%