文章基本信息

标题：Robust Constrained Receding Horizon Control for Linear Time-Varying Systems with Delays
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作者：Paul McGahan ; Tomáš Vyhlídal
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：10
页码：100-105
DOI：10.1016/j.ifacol.2016.07.490
语种：English
出版社：Elsevier
摘要：AbstractA robust infinite horizon receding horizon control (RHC) for linear time-varying systems with delays is synthesized. Known, constant, deterministic time delays are assumed to be present in both the state and input. The control input is subject to hard, symmetric constraints. Polytopic uncertainty, which is assumed to be obtained from e.g. input/output data at different operating points of a non-linear plant, is considered. At each time step, a robustly stabilizing, state-feedback control law is designed which minimizes a worst-case (infinite horizon) objective function. The numerically intractableminimaxproblem is relaxed to a series of linear matrix inequalities (LMIs) using widely known convex optimization techniques. Two examples are presented to illustrate the control design procedure. The first is a simple second order system for illustrative purposes whilst the second is an experimental heat transfer set-up. Potential extensions are discussed such as disturbance modelling, reference tracking, gain scheduling and Lyapunov-Krasovskii functionals which consider systems with variable time delay in both state and input.
关键词：KeywordsPredictive controlLyapunov Krasovksii functionalTime delayRobust controlConstraintsTime-varying systemsDiscrete-time systems