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http://dx.doi.org/10.5302/J.ICROS.2002.8.12.991

Input Constrained Receding Horizon Control Using Complex Polyhedral Invariant Region  

이영일 (서울산업대학교 제어계측공학과 정밀기계연구소)
방대인 (서울대학교 전기컴퓨터공학부)
윤태웅 (고려대학교 전기공학과)
김기용 (서울산업대학교 제어계측공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.12, 2002 , pp. 991-997 More about this Journal
Abstract
The concept of feasible & invariant region plays an important role to derive closed loop stability and achie adequate performance of constrained receding horizon predictive control. In this paper, we define a complex polyhedral feasible & invariant set for all stabilizable input-constrained linear systems by using a complex transform and propose a one-norm based receding horizon control scheme using these invariant sets. In order to get a larger stabilizable set, a convex hull of invariant sets which are defined for different state feedback gains is used as a target invariant set of the constrained receding horizon control. The proposed constrained receding horizon control scheme is formulated so that it can be solved via linear programming.
Keywords
constrained receding horizon predictive control; feasible & invariant region; input constraint; linear programming; dual-mode paradigm; convex-hull;
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