Robust explicit model predictive control via regular piecewise-affine approximation

被引:15
|
作者
Rubagotti, Matteo [1 ]
Barcelli, Davide [2 ]
Bemporad, Alberto [3 ]
机构
[1] Nazarbayev Univ, Dept Robot, Astana 010000, Kazakhstan
[2] Univ Siena, Dept Informat Engn, I-53100 Siena, Italy
[3] IMT Inst Adv Studies, I-55100 Lucca, Italy
关键词
model predictive control; uncertain systems; piecewise-affine functions; POSITIVELY INVARIANT SET; LINEAR-SYSTEMS; REDUCTION; MPC;
D O I
10.1080/00207179.2014.935958
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.
引用
收藏
页码:2583 / 2593
页数:11
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