Constraint Enforcement via Tube-Based MPC Exploiting Switching Restrictions

Dwell-time restrictions are critical to overcoming infeasibility caused by arbitrary switches in constrained time-dependent switched systems, especially when the system equilibrium is mode dependent. However, existing approaches to enforce constraints are not applicable in presence of disturbances....

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Bibliographic Details
Main Authors: Lavaei, Reza, Hall, Richard, Danielson, Claus, Bridgeman, Leila
Format: Conference Proceeding
Language:English
Subjects:
Additives
Computational modeling
Control systems
Robot kinematics
Sufficient conditions
Switched systems
Switches
Online Access:Request full text
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Summary:Dwell-time restrictions are critical to overcoming infeasibility caused by arbitrary switches in constrained time-dependent switched systems, especially when the system equilibrium is mode dependent. However, existing approaches to enforce constraints are not applicable in presence of disturbances. In this paper, a recursively feasible switched tube-based MPC (TMPC) is designed for constrained linear modes subject to polytopic-bounded additive disturbances. Control-invariant sets that are robust to mode switches and disturbances are proposed to select terminal constraints and identify feasible initial states. The method is distinguished by the admission of mode-dependent equilibria, user-specified prediction horizons, non-reliance on a preview of the switching signal, and online computations equal to that of a non-switched TMPC.
ISSN:2378-5861
DOI:10.23919/ACC50511.2021.9483304