MPC FOR SYSTEMS WITH VARIABLE TIME-DELAY - Robust Positive Invariant Set Approximations

Sorin Olaru; Hichem Benlaoukli; Silviu-Iulian Niculescu

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Paper

MPC FOR SYSTEMS WITH VARIABLE TIME-DELAY - Robust Positive Invariant Set Approximations

Topics: Adaptive Signal Processing and Control

In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 177-182, 2008 , Funchal - Madeira, Portugal

Authors: Sorin Olaru ¹ ; Hichem Benlaoukli ¹ and Silviu-Iulian Niculescu ²

Affiliations: ¹ SUPELEC, France ; ² LSS - SUPELEC, France

Keyword(s): Predictive control, Time-delay, Invariant sets.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Informatics in Control, Automation and Robotics ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: This paper deals with the control design for systems subject to constraints and affected by variable time-delay. The starting point is the construction of a predictive control law which guarantees the existence of a nonempty robust positive invariant (RPI) set with respect to the closed loop dynamics. In a second stage, an iterative algorithm is proposed in order to obtain an approximation of the maximal robust positive invariant set. The problem can be treated in the framework of piecewise affine systems due to the explicit formulations of the control law obtained via multiparametric programming.

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Paper citation in several formats:

Olaru, S.; Benlaoukli, H. and Niculescu, S. (2008). MPC FOR SYSTEMS WITH VARIABLE TIME-DELAY - Robust Positive Invariant Set Approximations. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-989-8111-32-6; ISSN 2184-2809, SciTePress, pages 177-182. DOI: 10.5220/0001501001770182

@conference{icinco08,
author={Sorin Olaru. and Hichem Benlaoukli. and Silviu{-}Iulian Niculescu.},
title={MPC FOR SYSTEMS WITH VARIABLE TIME-DELAY - Robust Positive Invariant Set Approximations},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2008},
pages={177-182},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001501001770182},
isbn={978-989-8111-32-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - MPC FOR SYSTEMS WITH VARIABLE TIME-DELAY - Robust Positive Invariant Set Approximations
SN - 978-989-8111-32-6
IS - 2184-2809
AU - Olaru, S.
AU - Benlaoukli, H.
AU - Niculescu, S.
PY - 2008
SP - 177
EP - 182
DO - 10.5220/0001501001770182
PB - SciTePress