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Design of Robust Receding Horizon Controls for Constrained Polytopic-Uncertain Systems

Ki Baek Kim 1
1 TREC - Theory of networks and communications
DI-ENS - Département d'informatique de l'École normale supérieure, Inria Paris-Rocquencourt
Abstract : In this paper, we propose a new robust receding horizon control scheme for linear input-constrained discrete-time systems with polytopic uncertainty. We provide a rigorous proof for closed-loop stability. The control scheme is based on the minimization of the worst-case cost with time-varying terminal weighting matrices, which can easily be implemented by using linear matrix inequality optimization. We discuss modifications of the proposed scheme that improves feasibility or on-line computation time. We compare the proposed schemes with existing results through simulation examples.
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https://hal.inria.fr/inria-00070362
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Submitted on : Friday, May 19, 2006 - 8:15:34 PM
Last modification on : Wednesday, October 14, 2020 - 3:57:49 AM
Long-term archiving on: : Tuesday, February 22, 2011 - 11:42:46 AM

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Ki Baek Kim. Design of Robust Receding Horizon Controls for Constrained Polytopic-Uncertain Systems. [Research Report] RR-5647, INRIA. 2005, pp.16. ⟨inria-00070362⟩

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