Abstract
In this paper we propose a robust self-triggered model predictive control algorithm for linear systems with additive bounded disturbances and hard constraints on the inputs and state. In self-triggered control, at every sampling instant the time until the next sampling instant is computed online based on the current state of the system. The goal is to achieve a low average sampling rate, thereby minimizing communication in the control system and possibly reducing the number of control updates as is required in sparse control applications. Naturally, and intentionally, our approach leads to long spans of time in which the plant is controlled in an open-loop fashion. Especially for unstable plants or large disturbances this necessitates taking into account the disturbance characteristics in the design of the control law in order to prevent constraint violation in the closed-loop system. We use constraint tightening methods as proposed in Tube Model Predictive Control to guarantee robust constraint satisfaction. The self-triggered controller is shown to stabilize a robust invariant set in the state space for the closed-loop system.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2014 European Control Conference (ECC) |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 472-477 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-3-9524269-1-3 |
| DOIs | |
| Publication status | Published - 22 Jul 2014 |
| Event | 13th European Control Conference, (ECC 2014) - University of Strasbourg, Strasbourg, France Duration: 24 Jun 2014 → 27 Jun 2014 Conference number: 13 https://www.ieee.org/conferences_events/conferences/conferencedetails/index.html?Conf_ID=33336 |
Conference
| Conference | 13th European Control Conference, (ECC 2014) |
|---|---|
| Abbreviated title | ECC 2014 |
| Country | France |
| City | Strasbourg |
| Period | 24/06/14 → 27/06/14 |
| Other | 2014 European Control Conference |
| Internet address |
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Robust self-triggered MPC for constrained linear systems. / Brunner, F.D.; Heemels, W.P.M.H.; Allgöwer, F.
Proceedings of the 2014 European Control Conference (ECC). Piscataway : Institute of Electrical and Electronics Engineers, 2014. p. 472-477 6862397.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - Robust self-triggered MPC for constrained linear systems
AU - Brunner, F.D.
AU - Heemels, W.P.M.H.
AU - Allgöwer, F.
PY - 2014/7/22
Y1 - 2014/7/22
N2 - In this paper we propose a robust self-triggered model predictive control algorithm for linear systems with additive bounded disturbances and hard constraints on the inputs and state. In self-triggered control, at every sampling instant the time until the next sampling instant is computed online based on the current state of the system. The goal is to achieve a low average sampling rate, thereby minimizing communication in the control system and possibly reducing the number of control updates as is required in sparse control applications. Naturally, and intentionally, our approach leads to long spans of time in which the plant is controlled in an open-loop fashion. Especially for unstable plants or large disturbances this necessitates taking into account the disturbance characteristics in the design of the control law in order to prevent constraint violation in the closed-loop system. We use constraint tightening methods as proposed in Tube Model Predictive Control to guarantee robust constraint satisfaction. The self-triggered controller is shown to stabilize a robust invariant set in the state space for the closed-loop system.
AB - In this paper we propose a robust self-triggered model predictive control algorithm for linear systems with additive bounded disturbances and hard constraints on the inputs and state. In self-triggered control, at every sampling instant the time until the next sampling instant is computed online based on the current state of the system. The goal is to achieve a low average sampling rate, thereby minimizing communication in the control system and possibly reducing the number of control updates as is required in sparse control applications. Naturally, and intentionally, our approach leads to long spans of time in which the plant is controlled in an open-loop fashion. Especially for unstable plants or large disturbances this necessitates taking into account the disturbance characteristics in the design of the control law in order to prevent constraint violation in the closed-loop system. We use constraint tightening methods as proposed in Tube Model Predictive Control to guarantee robust constraint satisfaction. The self-triggered controller is shown to stabilize a robust invariant set in the state space for the closed-loop system.
UR - http://www.scopus.com/inward/record.url?scp=84911486443&partnerID=8YFLogxK
U2 - 10.1109/ECC.2014.6862397
DO - 10.1109/ECC.2014.6862397
M3 - Conference contribution
AN - SCOPUS:84911486443
SP - 472
EP - 477
BT - Proceedings of the 2014 European Control Conference (ECC)
PB - Institute of Electrical and Electronics Engineers
CY - Piscataway
ER -