An Improved Off-Line Dynamic Output Feedback Robust Mpc Design For Ellipsoidal Estimation Error Sets
PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016(2016)
摘要
For the system with both polytopic uncertainty and bounded disturbance, an improved off-line approach to dynamic output feedback robust model predictive control for an ellipsoidal estimation error set is considered. To reduce the on-line computational burden, a look-up table is constructed off-line for on-line searching the real-time controller parameters. In the off-line optimization stage, for the pre-specified estimated states and the fixed ellipsoidal estimation error set, a sequence of controller parameters and the corresponding regions of attraction are calculated and stored in a look-up table. Compared with the previous results, the additional estimated state constraint for future time in the off-line optimization is removed from the existing algorithms, which decreases the conservatism of the off-line optimization problem. In the on-line searching stage, the real-time controller parameters are searched in the look-up table according to the region of attraction with the closest containment of the real-time estimated sate. The searched controller parameters can guarantee the convergence of the real-time augmented state. A numerical example is given to illustrate the effectiveness of the approach.
更多查看译文
关键词
Output feedback, model predictive control, off-line approach, uncertain system
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要