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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
Division:
MPLS
Department:
Engineering Science
Role:
Author
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Role:
Author, Author
Volume:
5
Pages:
4287-4292
Host title:
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6
Publication date:
2003-01-01
ISSN:
0743-1619
Source identifiers:
63195
ISBN:
0780378962
Keywords:
Pubs id:
pubs:63195
UUID:
uuid:0916a022-7b93-4ae5-87bc-6cc15d59d8f2
Local pid:
pubs:63195
Deposit date:
2012-12-19

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