Constrained Control of Uncertain, Time-varying Linear Discrete-Time Systems Subject to Bounded Disturbances
Résumé
The aim of this paper is twofold. In the first part, robust invariance for ellipsoidal sets with respect to uncertain and/or time-varying linear discrete-time systems with bounded additive disturbances is revisited. We provide an extension of an existing invariance condition. In the second part a novel
robust interpolation based control design involving several local unconstrained robust optimal controls is proposed. At each time
instant a quadratic programming problem is solved on-line. Proofs of recursive feasibility and input-to-state stability are given.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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