NDLI: Synthesizing on-line constrained robust model predictive control based-on nominal performance cost

Content Provider	IEEE Xplore Digital Library
Author	Baocang Ding Peng Yang Hexu Sun Shaoyuan Li
Copyright Year	2004
Description	Author affiliation: Inst. of Autom., Hebei Univ. of Technol., Tianjin, China (Baocang Ding; Peng Yang; Hexu Sun)
Abstract	A new method to address constrained robust model predictive control for systems with polytopic description is proposed. Inheriting from an earlier method, we split the infinite-horizon control moves into a set of free control moves over a fixed horizon and a state feedback law in the terminal region, all on-line optimized. Then, the basic idea is to utilize, at each sampling instant, a fixed number of free control moves to drive (implicitly) the terminal state into a terminal constraint set changing with time. However, a nominal, instead of worst-case, infinite horizon performance cost is adopted. This can reduce the computational burden and improve feasibility and optimality. Simulation result illustrates the advantages of the new technique.
Sponsorship	Zhejian Univ. Nat. Lab. of Ind. Control Technol. IEEE Robotics and Automation Soc. Nat. Natural Sci. Found. of China Chinese Assoc. of Automation
Starting Page	610
Ending Page	614
File Size	356090
Page Count	5
File Format	PDF
ISBN	0780382730
DOI	10.1109/WCICA.2004.1340650
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Predictive models Predictive control Costs Control system synthesis State feedback Optimization methods Sampling methods Infinite horizon Computational modeling
Content Type	Text
Resource Type	Article

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