Abstract
For the quasi-linear parameter varying (quasi-LPV) system with bounded disturbance, a synthesis approach of dynamic output feedback robust model predictive control (OFRMPC) is investigated. The estimation error set is represented by a zonotope and refreshed by the zonotopic set-membership estimation method. By properly refreshing the estimation error set online, the bounds of true state at the next sampling time can be obtained. Furthermore, the feasibility of the main optimization problem at the next sampling time can be determined at the current time. A numerical example is given to illustrate the effectiveness of the approach.
Highlights
Model predictive control (MPC) or receding horizon control is a class of optimization based control methods, which explicitly utilizes process model parameters and measurements to optimize a performance function
For output feedback robust model predictive control (OFRMPC), the bounds of estimation error set represent a kind of uncertainty, which has to be considered in the robust stability and physical constraints
The present paper considers a synthesis approach of dynamic OFRMPC for the quasi-Linear parameter varying (LPV) system with bounded disturbance
Summary
Model predictive control (MPC) or receding horizon control is a class of optimization based control methods, which explicitly utilizes process model parameters and measurements to optimize a performance function. For the online RMPC, at each time, a min-max optimization problem is often utilized to minimize the performance function of LPV systems, which considers all the possible realization of model parametric uncertainty [5]. For OFRMPC, the bounds of estimation error set represent a kind of uncertainty, which has to be considered in the robust stability and physical constraints. The main contribution is a combination between the main optimization problem that calculates control parameters and the set-membership estimation based on zonotopic computation. By properly refreshing the estimation error sets, it can obtain the precise bounds of true states at the sampling time. Based on Definition 1, the vertices of zonotope Z can be calculated for the different 23 vertices of unitary box B3, where the different combinations of “+”.
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