MPC for systems with variable time-delay robust positive invariant set approximations

Abstract : This paper deals with the control design for systems subject to constraints and affected by variable time-delay. The starting point is the construction of a predictive control law which guarantees the existence of a nonempty robust positive invariant (RPI) set with respect to the closed loop dynamics. In a second stage, an iterative algorithm is proposed in order to obtain an approximation of the maximal robust positive invariant set. The problem can be treated in the framework of piecewise affine systems due to the explicit formulations of the control law obtained via multiparametric programming.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-02291748
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Submitted on : Thursday, September 19, 2019 - 11:04:19 AM
Last modification on : Friday, September 20, 2019 - 1:18:42 AM

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  • HAL Id : hal-02291748, version 1

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Sorin Olaru, H. Benlaoukl, Silviu-Iulian Niculescu. MPC for systems with variable time-delay robust positive invariant set approximations. 5th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2008, May 2008, Funchal, Madeira, Portugal. pp.177-182. ⟨hal-02291748⟩

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