Details
| Original language | English |
|---|---|
| Pages (from-to) | 9399-9404 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 56 |
| Issue number | 2 |
| Early online date | 22 Nov 2023 |
| Publication status | Published - 2023 |
| Event | 22nd IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023 |
Abstract
This paper presents a sampled-data tube-based robust MPC scheme for linear continuous-time systems with irregular sampling times. The sampled-data control law is updated only at discrete sampling instances, but the proposed controller guarantees constraint satisfaction of the continuous-time state for all times. The proposed MPC scheme allows for two sources of uncertainty, (i) uncertain sampling times and (ii) an additional disturbance to the continuous-time system. A constraint adaptation is presented to handle this setting in a rigid tube MPC framework. Constraint satisfaction and convergence of the continuous-time state are shown for the proposed MPC scheme.
Keywords
- Model Predictive Control, Non-Uniform Sampling, Optimal Control, Robust Control, Sampled-Data Control
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
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In: IFAC-PapersOnLine, Vol. 56, No. 2, 2023, p. 9399-9404.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Robust model predictive control for linear sampled-data systems with irregular sampling times
AU - Buschermöhle, Philipp
AU - Lilge, Torsten
AU - Müller, Matthias A.
PY - 2023
Y1 - 2023
N2 - This paper presents a sampled-data tube-based robust MPC scheme for linear continuous-time systems with irregular sampling times. The sampled-data control law is updated only at discrete sampling instances, but the proposed controller guarantees constraint satisfaction of the continuous-time state for all times. The proposed MPC scheme allows for two sources of uncertainty, (i) uncertain sampling times and (ii) an additional disturbance to the continuous-time system. A constraint adaptation is presented to handle this setting in a rigid tube MPC framework. Constraint satisfaction and convergence of the continuous-time state are shown for the proposed MPC scheme.
AB - This paper presents a sampled-data tube-based robust MPC scheme for linear continuous-time systems with irregular sampling times. The sampled-data control law is updated only at discrete sampling instances, but the proposed controller guarantees constraint satisfaction of the continuous-time state for all times. The proposed MPC scheme allows for two sources of uncertainty, (i) uncertain sampling times and (ii) an additional disturbance to the continuous-time system. A constraint adaptation is presented to handle this setting in a rigid tube MPC framework. Constraint satisfaction and convergence of the continuous-time state are shown for the proposed MPC scheme.
KW - Model Predictive Control
KW - Non-Uniform Sampling
KW - Optimal Control
KW - Robust Control
KW - Sampled-Data Control
UR - http://www.scopus.com/inward/record.url?scp=85184960751&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2023.10.231
DO - 10.1016/j.ifacol.2023.10.231
M3 - Article
AN - SCOPUS:85184960751
VL - 56
SP - 9399
EP - 9404
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 2
T2 - 22nd IFAC World Congress
Y2 - 9 July 2023 through 14 July 2023
ER -