基于收缩序列集的约束PWA系统鲁棒预测控制

Abstract

Abstract: A robust MPC(model predictive control) scheme with stability guaranteed is proposed for a class discrete-time PWA(piecewise affine) systems subject to constraints on states and inputs with additional bounded disturbances.A contractive sequence of robust stabilizable sets are computed off-line using multi-parametric programming with one-step predictive horizon.By incorporating this sequence as a stabilizing constraint in the optimization problem and choosing a robust positively invariant set as a terminal constraint,the feasibility of the optimization problem guarantees the robust stability.A numerical example shows that the proposed controller asymptotically stabilizes the system to a robust positively invariant set.

CLC Number:

TP273

CHEN Fu, ZHAO Guang-zhou. Robust predictive control of constrained piecewise affine systems based on a contractive sequence of sets[J]. Journal of Systems Engineering and Electronics, 2009, 31(5): 1176-1179.

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Robust predictive control of constrained piecewise affine systems based on a contractive sequence of sets

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