Robust tube-based constrained predictive control via zonotopic set-membership estimation

This paper proposes an approach to deal with the problem of robust output feedback model predictive control for linear discrete-time systems subject to state and input constraints, in the presence of unknown but bounded disturbances and measurement noises. The estimation of the states is built using...

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Bibliographic Details
Published in2011 50th IEEE Conference on Decision and Control and European Control Conference pp. 4580 - 4585
Main Authors Le, V. T. H., Stoica, C., Dumur, D., Alamo, T., Camacho, E. F.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2011
Subjects
Noise
Noise measurement
Predictive control
Robustness
State estimation
Vectors
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Summary:This paper proposes an approach to deal with the problem of robust output feedback model predictive control for linear discrete-time systems subject to state and input constraints, in the presence of unknown but bounded disturbances and measurement noises. The estimation of the states is built using a zonotopic set-membership estimation. This set is time-decreasing and is computed off-line as the solution of a Linear Matrix Inequality optimization problem. The control law is designed by using tube-based model predictive control such that the closed-loop stability is guaranteed and the state and input constraints are fulfilled. The proposed methodology is illustrated through numerical simulations.
ISBN:9781612848006
1612848001
ISSN:0191-2216
DOI:10.1109/CDC.2011.6161131