Robust constrained model predictive control using linear matrix inequalities
Automatica (Journal of IFAC)
Control Systems with Actuator Saturation: Analysis and Design
Control Systems with Actuator Saturation: Analysis and Design
Technical communique: Improving off-line approach to robust MPC based-on nominal performance cost
Automatica (Journal of IFAC)
An ellipsoidal off-line MPC scheme for uncertain polytopic discrete-time systems
Automatica (Journal of IFAC)
ACC'09 Proceedings of the 2009 conference on American Control Conference
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Technical Communique: A synthesis approach of on-line constrained robust model predictive control
Automatica (Journal of IFAC)
Synthesis of dynamic output feedback RMPC with saturated inputs
Automatica (Journal of IFAC)
Hi-index | 22.15 |
A new robust model predictive control (RMPC) design algorithm is proposed for a linear uncertain system with a polytopic description and subject to actuator saturation. This algorithm involves the solution of an infinite horizon LQR problem for the uncertain system in the presence of actuator saturation at each time instant and the implementation of the first element of the resulting optimal control profile. By expressing a saturating linear feedback law on a convex hull of a group of auxiliary linear feedback laws and the actual linear feedback law, the LQR problem can be solved for a group of linear polytopic systems in the absence of saturation, with heavier weighting placed on the system corresponding to the actual linear feedback law. The additional design freedom in choosing the relative weighting on the actual and auxiliary feedback laws allows further improvement of the closed-loop system performance over those resulting from the existing algorithms. A numerical example illustrates the effectiveness of the proposed algorithm.