In this paper a robust MPC scheme based on a partial-state availability is developed for uncertain discrete-time linear systems described by structured norm-bounded model uncertainties and subject to saturation and rate of variation constraints. The algorithm is based on the minimization, at each time instant, of a semi-definite convex optimization problem subject to Linear Matrix Inequalities (LMI) feasibility constraints which are derived by a judicious use of S-Procedure arguments. Numerical comparisons with competitor algorithms are finally reported by dealing with the control augmentation problem of an High Altitude Performance Demonstrator (HAPD) unmanned aircraft with redundant control surfaces.

A Norm-Bounded robust MPC strategy with partial state measurements

SCORDAMAGLIA, Valerio
2014-01-01

Abstract

In this paper a robust MPC scheme based on a partial-state availability is developed for uncertain discrete-time linear systems described by structured norm-bounded model uncertainties and subject to saturation and rate of variation constraints. The algorithm is based on the minimization, at each time instant, of a semi-definite convex optimization problem subject to Linear Matrix Inequalities (LMI) feasibility constraints which are derived by a judicious use of S-Procedure arguments. Numerical comparisons with competitor algorithms are finally reported by dealing with the control augmentation problem of an High Altitude Performance Demonstrator (HAPD) unmanned aircraft with redundant control surfaces.
Constrained control; Norm-Bounded descriptions; output feedback
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12318/19407
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact