Cheng Hu
Computation of Invariant Tubes for Robust Output Feedback Model Predictive Control
Hu, Cheng; Liu, Chengyuan; Jaimoukha, Imad M
Authors
Chengyuan Liu
Imad M Jaimoukha
Abstract
This paper presents an algorithm to calculate tightened invariant tubes for output feedback model predictive controllers (MPC). We consider discrete-time linear time-invariant (DLTI) systems with bounded state and input constraints and subject to bounded disturbances. In contrast to existing approaches which either use pre-defined control and observer gains or compute the control and observer gains that optimize the volume of the invariant sets for the estimation and control errors separately, we consider the problem of optimizing the volume of these sets simultaneously. The nonlinearities associated with computing the control and observer gains are circumvented by the application of Farkas' Theorem and an extended Elimination Lemma, to convert the nonconvex optimization problem into a convex semidefinite program. An update algorithm is then used to reduce the volume of the invariant tube through a finite number of iterations. Numerical examples are provided to illustrate the effectiveness of the proposed algorithm.
Citation
Hu, C., Liu, C., & Jaimoukha, I. M. (2020). Computation of Invariant Tubes for Robust Output Feedback Model Predictive Control
Conference Name | 21st IFAC World Congress |
---|---|
Start Date | Jul 12, 2020 |
End Date | Jul 17, 2020 |
Acceptance Date | Feb 27, 2020 |
Publication Date | Jul 11, 2020 |
Deposit Date | Feb 27, 2020 |
Publicly Available Date | Mar 29, 2024 |
Keywords | Robust control invariant sets; linear matrix inequality; robust model predictive control; uncertain linear systems; optimization |
Public URL | https://nottingham-repository.worktribe.com/output/4044422 |
Related Public URLs | https://www.ifac2020.org/ |
Files
IFAC20 4193 MS
(404 Kb)
PDF
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