A robust constrained model predictive control scheme for norm-bounded uncertain systems with partial state measurements
| Autor: | Luciano Ollio, Massimiliano Mattei, Giuseppe Franze, Valerio Scordamaglia |
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| Přispěvatelé: | Franze, G., Mattei, M., Ollio, L., Scordamaglia, V. |
| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Output feedback
Scheme (programming language) output feedback Computer science model predictive control Mechanical Engineering General Chemical Engineering Biomedical Engineering linear matrix inequalitie Aerospace Engineering Uncertain systems State (functional analysis) Industrial and Manufacturing Engineering Model predictive control Control and Systems Engineering Control theory Bounded function Norm (mathematics) norm-bounded uncertain system Electrical and Electronic Engineering flight control receding horizon computer computer.programming_language |
| Popis: | A robust model predictive control scheme for a class of constrained norm-bounded uncertain discrete-time linear systems is developed under the hypothesis that only partial state measurements are available for feedback. The proposed strategy involves a two-phase procedure. Initialization phase is devoted to determining an admissible, though not optimal, linear memoryless controller capable to formally address the input rate constraint; then, during on-line phase, predictive capabilities complement the designed controller by means of N steps free control actions in a receding horizon fashion. These additive control actions are obtained by solving semidefinite programming problems subject to linear matrix inequalities constraints. As computational burden grows linearly with the control horizon length, an example is developed to show the effectiveness of the proposed approach for realistic control problems: the design of a flight control law for a flexible unmanned over-actuated aircraft, where the states of the flexibility dynamics are not measurable, is discussed, and a numerical implementation of the controller within a nonlinear simulation environment testifies the validity of the proposed approach and the possibility to implement the algorithm on an onboard computer. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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