Constrained robust feedback model predictive control for uncertain systems with polytopic description

For the constrained uncertain systems with polytopic description, a new design method of robust feedback model predictive control is proposed. By using a sequence of feedback control laws and designing the parameter-dependent Lyapunov function for each model, the design method provides more degrees of freedom and then can improve the control performance and enlarge the feasible region. Based on the characteristic property of the design method, an offline design algorithm is developed to reduce the MPC controller's online computation burden. The numerical examples verify the effectiveness of the results presented in this article.

[1]  Mayuresh V. Kothare,et al.  Efficient robust constrained model predictive control with a time varying terminal constraint set , 2003, Syst. Control. Lett..

[2]  Mayuresh V. Kothare,et al.  An e!cient o"-line formulation of robust model predictive control using linear matrix inequalities (cid:1) , 2003 .

[3]  M. Kothare,et al.  Robust constrained model predictive control using linear matrix inequalities , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[4]  Wei-Jie Mao,et al.  Robust stabilization of uncertain time-varying discrete systems and comments on "an improved approach for constrained robust model predictive control" , 2003, Autom..

[5]  Shaoyuan Li,et al.  A synthesis approach of on-line constrained robust model predictive control , 2004, Autom..

[6]  Basil Kouvaritakis,et al.  Efficient robust predictive control , 2000, IEEE Trans. Autom. Control..

[7]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[8]  Johan A. K. Suykens,et al.  Robust triple mode MPC , 2006, 2006 American Control Conference.

[9]  Manfred Morari,et al.  An improved approach for constrained robust model predictive control , 2002, Autom..

[10]  Basil Kouvaritakis,et al.  Optimizing prediction dynamics for robust MPC , 2005, IEEE Transactions on Automatic Control.

[11]  Basil Kouvaritakis,et al.  Constrained robust model predictive control based on periodic invariance , 2006, Autom..

[12]  Johan A. K. Suykens,et al.  Min-max feedback MPC using a time-varying terminal constraint set and comments on "Efficient robust constrained model predictive control with a time-varying terminal constraint set" , 2005, Syst. Control. Lett..

[13]  E. Yaz.  Linear Matrix Inequalities In System And Control Theory , 1998, Proceedings of the IEEE.

[14]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .