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

Authors
Journal
Automatica
0005-1098
Publisher
Elsevier
Publication Date
Volume
40
Issue
2
Identifiers
DOI: 10.1016/j.automatica.2003.10.004
Keywords
  • Constrained Control
  • Model Predictive Control
  • Invariant Set
  • Optimization

Abstract

Abstract 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 control law which is optimal with respect to a closed-loop cost bound through the on-line solution of a linear program. The invariant polytope is also used to define a receding horizon control law through an appropriate terminal constraint and cost.

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