Offline Robust MPC based on Polyhedral Invariant Set

摘要：

An offline method of synthesizing constrained robust model predictive controller based on polyhedral invariant set is proposed.This algorithm offline constructs a sequence of invariant sets and local state feedback controllers which can keep the states inside the invariant set even the uncertainty exists.Online it introduces perturbations which increase extra degrees of freedom to give better performance.It also adds terminal constraint set which drives the states into the smaller invariant set to achieve robust stability.The online and offline computation of the algorithm can be solved easily with the tool YALMIP of MATLAB.This algorithm dramatically reduces the online computation,guarantees the control performance by adding the external signal input and decreases the conservation with polyhedral invariant set instead of ellipsoidal invariant set.

作者: CUI Hairong FAN Yanyan LIU Xiangjie

作者单位: Department of Automation,North China Electric Power University,Beijing 102206,P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-5

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）