제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.1905-1910
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- 2003
Constrained MPC for uncertain time-delayed systems
- Jeong, Seung-Cheol (Electrical and Computer Engineering Division, Pohang University of Science and Technology) ;
- Park, Poo-Gyeon (Electrical and Computer Engineering Division, Pohang University of Science and Technology)
- Published : 2003.10.22
Abstract
It is well known that parameter uncertainties and time-delays cannot be avoided in practice and result in poor performance and even instability. Nevertheless, to the authors' best knowledge, there exist few results on model predictive control (MPC) handling explicitly uncertain time-delayed systems. In this paper, we present an MPC algorithm for uncertain time-varying systems with input constraints and state-delay. An optimization problem is suggested to find a memoryless state-feedback MPC law and the closed-loop stability is established under feasibility and certain conditions.
Keywords
- model predictive control;
- uncertainty;
- state delay;
- input constraints;
- linear matrix inequality;
- closed-loop stability