NDLI: Soft-constrained ℓasso-MPC for robust LTI tracking: Enlarged feasible region and an ISS gain estimate

Content Provider	IEEE Xplore Digital Library
Author	Gallieri, M. Maciejowski, J.M.
Copyright Year	2013
Description	Author affiliation: Dept. of Eng., Univ. of Cambridge, Cambridge, UK (Gallieri, M.; Maciejowski, J.M.)
Abstract	This paper investigates the robustness of a soft constrained LTI MPC for set-point tracking, using an $ℓ_{1}-regularised$ cost. The MPC using this type of cost (informally dubbed $ℓ_{asso}-MPC)$ is suitable, for instance, for redundantly-actuated systems. This is because of its ability to select a set of preferred actuators, leaving the other ones at rest for most of the time. The proposed approach aims to recover from state constraint violation and to track a changing set-point. Nominal stability is guaranteed for all feasible references and robustness to additive uncertainties is formally characterised, under certain assumptions. In particular, sufficient conditions are given for the feasible region to be robustly invariant, this region being larger than the MPC for regulation. The closed-loop system is input-to-state stable (ISS), and a local ISS gain is computed. All results apply to stabilisable LTI systems. Results hold as well for the more common quadratic MPC, a special case of the proposed controller.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	7101
Ending Page	7106
File Size	342835
Page Count	6
File Format	PDF
ISBN	9781467357142
ISSN	07431546
e-ISBN	9781467357173
DOI	10.1109/CDC.2013.6761015
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Standards Steady-state Actuators Uncertainty Cost function Tuning
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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