Ellipsoidal Lyapunov-based hybrid model predictive control for mixed logical dynamical systems with a recursive feasibility guarantee

Alireza Olama, Mokhtar Shasadeghi, Amin Ramezani, Mostafa Khorramizadeh, Paulo R.C. Mendes

Tutkimustuotos: LehtiartikkeliArtikkeliTieteellinenvertaisarvioitu

Abstrakti

This paper proposes an ellipsoidal hybrid model predictive control approach to solve the robust stability problem of uncertain hybrid dynamical systems modelled by the mixed logical dynamical framework. In this approach, the traditional terminal equality constraint is replaced by an ellipsoid that results in a maximal positive invariant set for the closed-loop system. Then, a Lyapunov decreasing condition along with the robustness criterion is introduced to the optimization problem to achieve the robust stability of the closed-loop system. As the main advantages, the ellipsoidal terminal set proposed in this paper attains a larger domain of attraction along with the recursive feasibility guarantee. Moreover, the stability and robustness constraints are achieved by a lower prediction horizon, which leads to a smaller dimension optimization problem. In addition, to reduce the computational complexity of the corresponding optimization problem, a suboptimal version of the proposed algorithm is introduced. Finally, numerical and car suspension system examples show the capabilities of the proposed method.
AlkuperäiskieliEnglanti
JulkaisuTransactions of the Institute of Measurement and Control
TilaJulkaistu - 11 lokak. 2018
OKM-julkaisutyyppiA1 Julkaistu artikkeli, soviteltu

Sormenjälki

Sukella tutkimusaiheisiin 'Ellipsoidal Lyapunov-based hybrid model predictive control for mixed logical dynamical systems with a recursive feasibility guarantee'. Ne muodostavat yhdessä ainutlaatuisen sormenjäljen.

Viittausmuodot