By Topic

Control of Constrained Discrete-Time Systems With Bounded \ell _{2} Gain

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Goulart, P.J. ; NEC Labs. America Inc., Princeton, NJ ; Kerrigan, E.C. ; Alamo, T.

We consider the problem of designing a control law for a constrained linear system with bounded disturbances that ensures constraint satisfaction over an infinite horizon, while also guaranteeing that the closed-loop system has bounded lscr2 gain. To this end, we propose a receding horizon control strategy based on the repeated calculation of optimal finite horizon feedback policies. We parameterize these policies such that the input at each time is an affine function of current and prior states, and minimize a worst-case quadratic cost where the disturbance energy is negatively weighted as in H infin control. We show that the resulting receding horizon controller has two advantages over previous results for this problem. First, the policy optimization problem to be solved at each time step can be rendered convex-concave, with a number of decision variables and constraints that grows polynomially with the problem size, thereby making its solution amenable to standard techniques in convex optimization. Second, the achievable lscr2 gain of the resulting closed-loop system is bounded and non-increasing with increasing control horizon. A numerical example is included to demonstrate the improvement in achievable lscr2 gain relative to existing methods.

Published in:

Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 5 )