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Robust explicit model predictive control via regular piecewise-affine approximation

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journal contribution
posted on 15.03.2016, 11:49 by Matteo Rubagotti, D. Barcelli, A. Bemporad
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.

History

Citation

International Journal of Control, 2014, 87, pp. 2583-2593

Author affiliation

/Organisation/COLLEGE OF SCIENCE AND ENGINEERING/Department of Engineering

Version

AM (Accepted Manuscript)

Published in

International Journal of Control

Publisher

Taylor & Francis : STM, Behavioural Science and Public Health Titles

issn

0020-7179

eissn

1366-5820

Acceptance date

13/06/2014

Copyright date

2014

Available date

15/03/2016

Publisher version

http://www.tandfonline.com/doi/abs/10.1080/00207179.2014.935958

Language

en