A New Approach to Off-line Constrained Robust Model Predictive Control
نویسندگان
چکیده
A new approach to address constrained robust regulation for systems with a polytopic uncertainty description is proposed. The infinite horizon state feedback-law is represented by a sequence of explicit control laws that corresponds to a sequence of asymptotically invariant ellipsoids constructed off-line one within another. Beginning with the smallest ellipsoid each subsequent one (and the corresponding controller) is determined by calculating the set of states that may be driven to an adjacent (smaller) ellipsoid in exactly one step. The approach is novel in that it incorporates the knowledge of control laws associated with smaller ellipsoids in the design of controllers for all subsequent ellipsoids. This algorithm not only considerably reduces the conservativeness but also preserves its attractive low computational complexity. A simulation example shows the effectiveness of the proposed technique.
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