Stabilization conditions for model predictive control of constrained PWA systems

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) Pub Date : 2004-12-01 DOI:10.1109/CDC.2004.1429508

M. Lazar, W. M. Heemels, S. Weiland, A. Bemporad

引用次数: 40

Abstract

Model predictive control (MPC) has recently been applied to several relevant classes of hybrid systems with promising results. These developments generated an increasing interest towards issues such as stability and computational problems that arise in hybrid MPC. Stability aspects have been addressed only marginally. In this paper we present an extension of the terminal cost and constraint set method for guaranteeing stability in MPC to the class of constrained piecewise affine systems. Semidefinite programming is used to calculate the employed terminal weight matrix that ensures stability for quadratic cost based MPC. A procedure for computing a robust positively invariant set for piecewise linear systems is also developed. The implementation of the proposed method is illustrated by an example.

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约束PWA系统模型预测控制的镇定条件

模型预测控制(MPC)近年来已应用于几种相关类型的混合动力系统，并取得了良好的效果。这些发展使人们对混合MPC中出现的稳定性和计算问题越来越感兴趣。稳定性方面的问题只得到很少的处理。本文将保证MPC稳定性的终端代价和约束集方法推广到有约束分段仿射系统。采用半定规划方法计算了基于二次代价的MPC算法的终端权重矩阵，保证了算法的稳定性。给出了分段线性系统鲁棒正不变集的计算方法。通过实例说明了该方法的实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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