Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Input Constrained Receding Horizon Control Using Complex Polyhedral Invariant Region

복소형 다각형 불변영역을 이용한 입력제한 예측제어

  • 이영일 (서울산업대학교 제어계측공학과 정밀기계연구소) ;
  • 방대인 (서울대학교 전기컴퓨터공학부) ;
  • 윤태웅 (고려대학교 전기공학과) ;
  • 김기용 (서울산업대학교 제어계측공학과)
  • Published : 2002.12.01
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Abstract

The concept of feasible & invariant region plays an important role to derive closed loop stability and achie adequate performance of constrained receding horizon predictive control. In this paper, we define a complex polyhedral feasible & invariant set for all stabilizable input-constrained linear systems by using a complex transform and propose a one-norm based receding horizon control scheme using these invariant sets. In order to get a larger stabilizable set, a convex hull of invariant sets which are defined for different state feedback gains is used as a target invariant set of the constrained receding horizon control. The proposed constrained receding horizon control scheme is formulated so that it can be solved via linear programming.

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References

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