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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 ofconstrained nonlinear uncertain discrete-time systems as well ascontrolling such complex systems based on the computed robustcontrollable sets is introduced in this paper. The addressedone-step control approach turns out to be a robust model predictivecontrol scheme with feasible unit control horizon and contractiveconstraint. The solver of 1-dimensional quantified set inversion inmodal interval analysis is extended to 2-dimensional cases forcomputing robust controllable sets off-line with a clear semanticinterpretation, where both universal and existential quantifiers areconcerned simultaneously. An interval-based solver of constrainedminimax optimization is also proposed to compute one-step controlinputs online in a reliable way, which guarantee to drive the systemstate contractively along the computed robust controllable sets to aselected 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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