Interpolation based predictive control by ellipsoidal invariant sets. (June 2020)

• Record Type: Journal Article
• Authors: Rubin, Daniel; Mercader, Pedro; Gutman, Per-Olof; Nguyen, Hoai-Nam; Bemporad, Alberto
• Is Part Of: IFAC journal of systems and control. Volume 12(2020)
• Publication Date: 2020-06
• Subjects: Predictive control -- Constrained control -- Uncertain systems -- Linear time variant systems; Automatic control -- Periodicals; Relay control systems -- Periodicals; Embedded computer systems -- Periodicals; Feedback control systems -- Periodicals; Artificial intelligence -- Periodicals; Artificial intelligence; Automatic control; Embedded computer systems; Feedback control systems; Relay control systems; Electronic journals; Periodicals; 629.89
• DOI: 10.1016/j.ifacsc.2020.100084
• Languages: English
• ISSNs: 2468-6018

Abstract

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.