Effcient robust output feedback MPC
This paper extends an effcient robust Model Predictive Control (MPC) methodology based on offline optimization of prediction dynamics in two respects. Firstly the case of output feedback via an observer is considered. Secondly, a method is proposed for imposing a bound on worst case performance usin...
| Váldodahkkit: | , , , |
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| Materiálatiipa: | Journal article |
| Giella: | English |
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2011
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| _version_ | 1826296292695867392 |
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| author | Cannon, M Li, S Cheng, Q Kouvaritakis, B |
| author_facet | Cannon, M Li, S Cheng, Q Kouvaritakis, B |
| author_sort | Cannon, M |
| collection | OXFORD |
| description | This paper extends an effcient robust Model Predictive Control (MPC) methodology based on offline optimization of prediction dynamics in two respects. Firstly the case of output feedback via an observer is considered. Secondly, a method is proposed for imposing a bound on worst case performance using dynamic feedback which allows a nominal optimal feedback law to be implemented when this is feasible. The method is applicable to the case of uncertain systems which are not robustly stabilized by nominal LQ-optimal control. An effcient online optimization with feasibility and stability guarantees is proposed. © 2011 IFAC. |
| first_indexed | 2024-03-07T04:14:06Z |
| format | Journal article |
| id | oxford-uuid:c8d2fae3-1e1a-4a7d-ae59-1fe5f4c2ee60 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T04:14:06Z |
| publishDate | 2011 |
| record_format | dspace |
| spelling | oxford-uuid:c8d2fae3-1e1a-4a7d-ae59-1fe5f4c2ee602022-03-27T06:54:47ZEffcient robust output feedback MPCJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:c8d2fae3-1e1a-4a7d-ae59-1fe5f4c2ee60EnglishSymplectic Elements at Oxford2011Cannon, MLi, SCheng, QKouvaritakis, BThis paper extends an effcient robust Model Predictive Control (MPC) methodology based on offline optimization of prediction dynamics in two respects. Firstly the case of output feedback via an observer is considered. Secondly, a method is proposed for imposing a bound on worst case performance using dynamic feedback which allows a nominal optimal feedback law to be implemented when this is feasible. The method is applicable to the case of uncertain systems which are not robustly stabilized by nominal LQ-optimal control. An effcient online optimization with feasibility and stability guarantees is proposed. © 2011 IFAC. |
| spellingShingle | Cannon, M Li, S Cheng, Q Kouvaritakis, B Effcient robust output feedback MPC |
| title | Effcient robust output feedback MPC |
| title_full | Effcient robust output feedback MPC |
| title_fullStr | Effcient robust output feedback MPC |
| title_full_unstemmed | Effcient robust output feedback MPC |
| title_short | Effcient robust output feedback MPC |
| title_sort | effcient robust output feedback mpc |
| work_keys_str_mv | AT cannonm effcientrobustoutputfeedbackmpc AT lis effcientrobustoutputfeedbackmpc AT chengq effcientrobustoutputfeedbackmpc AT kouvaritakisb effcientrobustoutputfeedbackmpc |