Explicit Model Predictive Control for Systems with Linear Parameter-Varying State Transition Matrix

• In this paper we propose a closed-loop min-max MPC algorithm based on dynamicprogramming, to compute explicit control laws for systems with a linear parameter-varyingstate transition matrix. This enables the controller to exploit parameter information to improveperformance compared to a standard robust approach where no uncertainty knowledge is used,while keeping the benefits of fast online computations. The off-line computational burden issimilar to what is required for computing explicit control laws for uncertain or nominal LTIsystems. The proposed control strategy is applied to the controlled H´enon map to draw acomparison, in terms of complexity and control performance, with a controller based on apiecewise affine approximation

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Control of constrained systems

Linear parameter-varying systems

Optimal control theory

TECHNOLOGY

TEKNIKVETENSKAP

Publikations- och innehållstyp

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