Robust tube-based model predictive control for hybrid systems

Author

Ghasemi, Mohammad Sajjad ; Afzalian, Ali A. ; Ramezani, M.H.

Author_Institution

Dept. of Electr. Eng., Shahid Beheshti Univ., Tehran, Iran

fYear

2015

fDate

10-14 May 2015

Firstpage

982

Lastpage

987

Abstract

In this article, we proposed a robust tube-based MPC formulation for the class of the hybrid system, namely the autonomously switched PWA system, with bounded additive uncertainties. The presented tube-based MPC forces the state of the uncertain system into lying in the tube confined to the invariant set around the state of the nominal system in every sample time. Asymptotic stability and satisfaction of constraints for uncertain system are also assured. Also we present an algorithm for convex ε-approximation of minimal robust invariant (mRPI) set of the switched linear systems under arbitrary switching.

Keywords

approximation theory; asymptotic stability; continuous systems; discrete systems; linear systems; predictive control; robust control; switching systems (control); uncertain systems; arbitrary switching; asymptotic stability; autonomously switched PWA system; bounded additive uncertainties; convex ε-approximation; hybrid systems; mRPI set; minimal robust invariant set; nominal system; piecewise affine system; robust tube-based MPC formulation; robust tube-based model predictive control; switched linear systems; uncertain system; Conferences; Decision support systems; Electrical engineering; minimal invariant set; piecewise afine systems; robust tube-based MPC; swiched linear systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering (ICEE), 2015 23rd Iranian Conference on

Conference_Location

Tehran

Print_ISBN

978-1-4799-1971-0

Type

conf

DOI

10.1109/IranianCEE.2015.7146354

Filename

7146354