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A new method to address constrained robust model predictive control for systems with polytopic description is proposed. Inheriting from an earlier method, we split the infinite-horizon control moves into a set of free control moves over a fixed horizon and a state feedback law in the terminal region, all on-line optimized. Then, the basic idea is to utilize, at each sampling instant, a fixed number of free control moves to drive (implicitly) the terminal state into a terminal constraint set changing with time. However, a nominal, instead of worst-case, infinite horizon performance cost is adopted. This can reduce the computational burden and improve feasibility and optimality. Simulation result illustrates the advantages of the new technique.
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on (Volume:1 )
Date of Conference: 15-19 June 2004