Quasi-min-max output-feedback model predictive control for LPV systems with input saturation |
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Authors: | Tae-Hyoung Kim Ho-Woon Lee |
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Affiliation: | 1.Department of Mechanical Engineering, College of Engineering,Chung-Ang University,Seoul,Korea |
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Abstract: | In the research field of model predictive control (MPC), an output-feedback-type MPC method is consistently required for controlling a wide range of constrained systems. In this paper, we propose a two-stage control strategy for polytopic linear parameter varying (LPV) systems subject to input constraints. This strategy consists of a modified quasi-min-max output-feedback MPC method and a novel terminal output-feedback robust control technique. The proposed control mechanism involves the system states to be first controlled via the MPC method to be driven into a prescribed neighborhood of the origin, and then, the terminal output-feedback robust control method guaranteeing the input constraints is applied to make such states converge to the origin. It is also verified that our control method guarantees the closed-loop stability and feasibility in the presence of model uncertainties and input constraints. Finally, a numerical example is given to demonstrate its effectiveness. |
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