Robust Constrained Receding Horizon Control for Linear Time-Varying Systems with Delays

作     者：McGahan, Paul Vyhlídal, Tomá 

作者机构：CTU in Prague Department of Control and Instrumentation Eng. Faculty of Mechanical Eng. Technická St. 4 166 07 Prague 6 Czech Republic 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2016年第49卷第10期

页      面：100-105页

核心收录：

基　　金：This work was sffipported by the Grant Agency of the Czech Technical University in Pragffiefl grant No. SGS14/182/OHK2/3T/12 

主　　题：Discrete time control systems Convex optimization Delay control systems Digital control systems Feedback control Heat transfer Linear matrix inequalities Lyapunov functions Robust control Robustness (control systems) State feedback Time delay Time varying control systems Time varying systems Constraints Convex optimization techniques Discrete time systems Linear Matrix Inequalities (LMIs) Linear time varying systems Lyapunov Krasovskii functionals Predictive control State feedback control law 

摘      要：A robust infinite horizon receding horizon control (RHC) for linear time-varying systems with delays is synthesized. Known, constant, deterministic time delays are assumed to be present in both the state and input. The control input is subject to hard, symmetric constraints. Polytopic uncertainty, which is assumed to be obtained from e.g. input/output data at different operating points of a non-linear plant, is considered. At each time step, a robustly stabilizing, state-feedback control law is designed which minimizes a worst-case (infinite horizon) objective function. The numerically intractable minimax problem is relaxed to a series of linear matrix inequalities (LMIs) using widely known convex optimization techniques. Two examples are presented to illustrate the control design procedure. The first is a simple second order system for illustrative purposes whilst the second is an experimental heat transfer set-up. Potential extensions are discussed such as disturbance modelling, reference tracking, gain scheduling and Lyapunov-Krasovskii functionals which consider systems with variable time delay in both state and input. © 2016