Abstract
Polytopic invariant sets have significant advantages over ellipsoidal invariant sets in the design of constrained control laws due to their potential for greater flexibility in shape. This paper uses the concept of partial invariance to derive a sequence of linear programs in order to maximize offline the volume of an invariant polytopic set with an arbitrary predefined number of vertices subject to a bound on closed-loop performance. Interpolation techniques are used to determine a nonlinear control law which is optimal with respect to a closed-loop cost bound through the online solution of a linear program. The invariant polytope is used to define a receding horizon control law through an appropriate terminal constraint and cost.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
