Inf-sup control of discontinuous piecewise affine systems

被引：1

作者：

Spjotvold, J. ^{[1
]}

Kerrigan, E. C. ^{[2
,3
]}

Mayne, D. Q. ^{[3
]}

Johansen, T. A. ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[2] Univ London Imperial Coll Sci Technol & Med, Dept Aeronaut, London SW7 2AZ, England

[3] Univ London Imperial Coll Sci Technol & Med, Dept Elect & Elect Engn, London SW7 2AZ, England

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2009年 / 19卷 / 13期

基金：

英国工程与自然科学研究理事会;

关键词：

optimal control; piecewise affine systems; parametric programming; approximate solutions to inf-sup problems; MODEL-PREDICTIVE CONTROL; RECEDING HORIZON CONTROL; STABILITY; SET;

D O I：

10.1002/rnc.1392

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the worst-case optimal control of discontinuous piecewise affine (PWA) systems, which are subjected to constraints and disturbances. We seek to pre-compute, via dynamic programming, an explicit control law for these systems when a PWA cost function is utilized. One difficulty with this problem class is that, even for initial states for which the value function of the optimal control problem is finite, there might not exist a control law that attains the infimum. Hence, we propose a method that is guaranteed to obtain a sub-optimal Solution, and where the degree Of sub-optimality can be specified a priori. This is achieved by approximating the underlying sub-problems with a parametric piecewise linear program. Copyright (C) 2008 John Wiley & Sons, Ltd.

引用

页码：1471 / 1492

页数：22

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