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Control of constrained nonlinear uncertain discrete-time systems via robust controllable sets: a modal interval analysis approach
Published online by Cambridge University Press: 23 January 2009
Abstract
A general framework for computing robust controllable sets of constrained nonlinear uncertain discrete-time systems as well as controlling such complex systems based on the computed robust controllable sets is introduced in this paper. The addressed one-step control approach turns out to be a robust model predictive control scheme with feasible unit control horizon and contractive constraint. The solver of 1-dimensional quantified set inversion in modal interval analysis is extended to 2-dimensional cases for computing robust controllable sets off-line with a clear semantic interpretation, where both universal and existential quantifiers are concerned simultaneously. An interval-based solver of constrained minimax optimization is also proposed to compute one-step control inputs online in a reliable way, which guarantee to drive the system state contractively along the computed robust controllable sets to a selected terminal robust control invariant set.
Keywords
- Type
- Research Article
- Information
- ESAIM: Control, Optimisation and Calculus of Variations , Volume 15 , Issue 1 , January 2009 , pp. 189 - 204
- Copyright
- © EDP Sciences, SMAI, 2008
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