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EnglishPolyhedral control Lyapunov functions (PCLFs) are exploited in this paper to propose a linear model predictive control (MPC) formulation that guarantees a “large” domain of attraction (DoA) even for short horizon. In particular, the terminal region of the proposed finite-horizon MPC formulation is chosen as a level set of an appropriate PCLF. For small dimensional systems, this terminal region can be explicitly computed as an arbitrarily close approximation to the entire (infinite-horizon) stabilizable set. Global stability of the origin is guaranteed by using an “inflated” PCLF as terminal cost. The proposed MPC scheme can be formulated as a (small dimensional) quadratic programming problem by introducing one additional scalar variable. Numerical examples show the main benefits and achievements of the proposed formulation in terms of trade-off between volume of the DoA, computational time and closed-loop performance.
| Titolo: | A parsimonious algorithm for the solution of continuous-time constrained LQR problems with guaranteed convergence |
| Autori interni: | |
| Anno del prodotto: | 2013 |
| Handle: | http://hdl.handle.net/11568/226073 |
| ISBN: | 9783952417348 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11568/226073
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