A receding horizon control approach to sampled-data implementation of continuous-time controllers |
| |
Authors: | Dragan Ne i ,Lars Grü ne |
| |
Affiliation: | aDepartment of Electrical and Electronic Engineering, The University of Melbourne, Victoria 3010, Australia;bMatematisches Institut, Universität Bayreuth, 95440, Germany |
| |
Abstract: | We propose a novel way for sampled-data implementation (with the zero order hold assumption) of continuous-time controllers for general nonlinear systems. We assume that a continuous-time controller has been designed so that the continuous-time closed-loop satisfies all performance requirements. Then, we use this control law indirectly to compute numerically a sampled-data controller. Our approach exploits a model predictive control (MPC) strategy that minimizes the mismatch between the solutions of the sampled-data model and the continuous-time closed-loop model. We propose a control law and present conditions under which stability and sub-optimality of the closed loop can be proved. We only consider the case of unconstrained MPC. We show that the recent results in [G. Grimm, M.J. Messina, A.R. Teel, S. Tuna, Model predictive control: for want of a local control Lyapunov function, all is not lost, IEEE Trans. Automat. Control 2004, to appear] can be directly used for analysis of stability of our closed-loop system. |
| |
Keywords: | Controller design Stabilization Sampled-data Nonlinear Receding horizon control Model predictive control |
本文献已被 ScienceDirect 等数据库收录! |
|