Brief Robust receding horizon predictive control for systems with uncertain dynamics and input saturation

Authors:
Young Il Lee;Basil Kouvaritakis
Affiliations:
Department of Control and Instrumentation, Gyeongsang National University, Research Institute of Industrial Technology, Jinju Gyeong-Nam 660-701, South Korea;Oxford University, Department of Engineering Science, Parks Road, OX1 3PJ, UK
Venue:
Automatica (Journal of IFAC)
Year:
2000

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Abstract

A receding horizon predictive control method which assures stability for systems with model uncertainty and input saturation is derived by extending earlier work in two important respects: (i) ellipsoidal invariant sets are replaced by polyhedral invariant sets; and (ii) the constraint that the state lie in an invariant set is invoked N steps ahead. The new algorithm allows for a considerable enlargement of the stabilizable set and provides extra degrees of freedom with which to improve performance.