Homothetic tube model predictive control

被引：157

作者：

Rakovic, Sasa V. ^{[1
]}

Kouvaritakis, Basil ^{[3
]}

Findeisen, Rolf ^{[2
,4
]}

Cannon, Mark ^{[3
,5
]}

机构：

[1] Univ Maryland, Syst Res Inst, College Pk, MD 20742 USA

[2] Univ Magdeburg, Inst Automat Engn, D-39106 Magdeburg, Germany

[3] Univ Oxford, Dept Engn Sci, Oxford OX1 3PJ, England

[4] Univ Magdeburg, Inst Automat, Syst Theory & Control Lab, D-39106 Magdeburg, Germany

[5] Univ Oxford, St Johns Coll, Oxford, England

来源：

AUTOMATICA | 2012年 / 48卷 / 08期

关键词：

Tube model predictive control; Set invariance; Set-dynamics; DISCRETE-TIME-SYSTEMS; LINEAR-SYSTEMS; INVARIANT-SETS; DISTURBANCES; CONSTRAINTS; STATE;

D O I：

10.1016/j.automatica.2012.05.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The robust model predictive control for constrained linear discrete time systems is solved through the development of a homothetic tube model predictive control synthesis method. The method employs several novel features including a more general parameterization of the state and control tubes based on homothety and invariance, a more flexible form of the terminal constraint set and a relaxation of the controlled dynamics of the sets that define the state and control tubes. Under natural assumptions, the proposed method is computationally efficient and it induces strong system theoretic properties. (C) 2012 Elsevier Ltd. All rights reserved.

引用

页码：1631 / 1638

页数：8

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