Interpolation based predictive control by ellipsoidal invariant sets
IFAC Journal of Systems and Control(2020)
摘要
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.
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关键词
Predictive control,Constrained control,Uncertain systems,Linear time variant systems
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