Computation of invariant sets for piecewise affine discrete time systems subject to bounded disturbances

被引：86

作者：

Rakovic, SV ^{[1
]}

Grieder, P ^{[1
]}

Kvasnica, M ^{[1
]}

Mayne, DQ ^{[1
]}

Morari, M ^{[1
]}

机构：

[1] Univ London Imperial Coll Sci Technol & Med, Dept Elect & Elect Engn, London, England

来源：

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年

关键词：

piecewise affine dynamics; set invariance; constrained control; robust control;

D O I：

10.1109/CDC.2004.1430242

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Piecewise affine (PWA) systems are useful models for describing non-linear and hybrid systems. One of the key problems in designing controllers for these systems is the inherent computational complexity of controller synthesis and analysis. These problems are amplified in the presence of state and input constraints and additive but bounded disturbances. In this paper we exploit set invariance and parametric programming to devise an efficient robust time optimal control scheme. Specifically, the state is driven into the maximal robust invariant set (Omega) over tilde (infinity) in minimum time. We show how to compute (Omega) over tilde (infinity). and derive conditions for finite time computation.

引用

页码：1418 / 1423

页数：6

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