MPC-based tracking for real-time systems subject to time-varying polytopic constraints

Summary This paper presents a real‐time MPC‐based tracking strategy for linear systems subject to time‐varying constraints. The framework is quite general because the time‐varying constraints can apply both to the state and to the input. To handle the problem, a polytopic invariant set computed off‐...

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Published inOptimal control applications & methods Vol. 37; no. 4; pp. 708 - 729
Main Authors Manrique, T., Fiacchini, M., Chambrion, T., Millerioux, G.
Format Journal Article
LanguageEnglish
Published Glasgow Blackwell Publishing Ltd 01.07.2016
Wiley Subscription Services, Inc
Wiley
Subjects
Computation
Convergence
Dynamical Systems
invariant sets
Invariants
Linear systems
Mathematics
model predictive control
On-line systems
Real time
real-time application
Strategy
time-varying constraints
Tracking
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Summary:Summary This paper presents a real‐time MPC‐based tracking strategy for linear systems subject to time‐varying constraints. The framework is quite general because the time‐varying constraints can apply both to the state and to the input. To handle the problem, a polytopic invariant set computed off‐line is homogeneously dilated or contracted on‐line to fit the polytopic time‐varying constraints. The invariant set is used as an admissible terminal constraint set so that it guarantees stability and convergence in the tracking task. The on‐line cost of the homothetic invariant set computation is low enough to cope with systems subject to stringent real‐time constraints. Copyright © 2015 John Wiley & Sons, Ltd.
Bibliography:ark:/67375/WNG-W6Q6HFS3-8
ArticleID:OCA2188
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SourceType-Scholarly Journals-1
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content type line 14
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ISSN:0143-2087
1099-1514
DOI:10.1002/oca.2188