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Enlargement of polytopic terminal region in NMPC by interpolation and partial invariance

Abstract:

Polytopic invariant sets have significant advantages over ellipsoidal invariant sets in the design of constrained control laws due to their potential for greater flexibility in shape. This paper uses the concept of partial invariance to derive a sequence of linear programs in order to maximize offline the volume of an invariant polytopic set with an arbitrary predefined number of vertices subject to a bound on closed-loop performance. Interpolation techniques are used to determine a nonlinear...

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Publication status:
Published

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Deshmukh, V More by this author
Volume:
5
Pages:
4287-4292
Publication date:
2003
ISSN:
0743-1619
URN:
uuid:0916a022-7b93-4ae5-87bc-6cc15d59d8f2
Source identifiers:
63195
Local pid:
pubs:63195
ISBN:
0-7803-7896-2

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