Title Min-max model predictive control with robust zonotope-based observer
Authors Witheephanich, Kritchai , ORIHUELA ESPINA, DIEGO LUIS, Garcia, Ramon A. , ESCAÑO GONZÁLEZ, JUAN MANUEL, IEEE
External publication No
Scope Conference Paper
Nature Científica
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-85003905097&doi=10.1109%2fCONTROL.2016.7737613&partnerID=40&md5=5f35950c7f91e1dc546873e9b84ceac5
Publication date 01/01/2016
ISI 000388667900103
Scopus Id 2-s2.0-85003905097
DOI 10.1109/CONTROL.2016.7737613
Abstract This paper considers the problem of robust estimation and constrained model predictive control (MPC). The paper deals with a discrete linear time-invariant system affected by additive bounded disturbances, whose states are measurable, but not directly accessible. In order to improve the control performance, a state estimator is desirable. The design problem of an observer based on zonotopes to estimate the system states of the uncertain system is addressed. Then, the min-max MPC optimisation problem formulation based on the designed robust observer as a quadratic program (QP) is described. An efficient implementation of the proposed robust observer-based control algorithm that can be solved by a standard QP is validated by simulation through the regulator problem of a cart pendulum system.
Keywords Automation; Invariance; Linear systems; Optimization; Pendulums; Predictive control systems; Quadratic programming; Time varying control systems; Bounded disturbances; Constrained model predictive con
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