Title :
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
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;
Conference_Titel :
Electrical Engineering (ICEE), 2015 23rd Iranian Conference on
Conference_Location :
Tehran
Print_ISBN :
978-1-4799-1971-0
DOI :
10.1109/IranianCEE.2015.7146354
