|
|||||
|
|
Robust triple mode MPC |
|
| Authors: | L Imsland J A Rossiter B Pluymers J Suykens |
| Affiliation: | 1. SINTEF ICT Applied Cybernetics , N-7465, Trondheim, Norway Lars.Imsland@sintef.no;3. Department of Automatic Control and Systems Engineering , University of Sheffield , Mappin Street, S1 3JD, UK;4. Katholieke Universiteit Leuven , ESAT-SCD-SISTA, Kasteelpark Arenberg 10, B-3000 Leuven (Heverlee), Belgium |
| Abstract: | This paper reviews triple mode predictive control for linear time invariant systems, and then proposes a new algorithm for robust triple mode predictive control for constrained linear systems described by polytopic uncertainty models. The approach significantly enlarges the feasibility region compared to recently proposed robust dual mode approaches. The efficacy of the approach is demonstrated with numerical examples. |
| Keywords: | visual servoing velocity fields tracking control |