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  4. Ellipsoidal Lyapunov-based hybrid model predictive control for mixed logical dynamical systems with a recursive feasibility guarantee
 
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2018
Journal Article
Title

Ellipsoidal Lyapunov-based hybrid model predictive control for mixed logical dynamical systems with a recursive feasibility guarantee

Abstract
This paper proposes an ellipsoidal hybrid model predictive control approach to solve the robust stability problem of uncertain hybrid dynamical systems modelled by the mixed logical dynamical framework. In this approach, the traditional terminal equality constraint is replaced by an ellipsoid that results in a maximal positive invariant set for the closed-loop system. Then, a Lyapunov decreasing condition along with the robustness criterion is introduced to the optimization problem to achieve the robust stability of the closed-loop system. As the main advantages, the ellipsoidal terminal set proposed in this paper attains a larger domain of attraction along with the recursive feasibility guarantee. Moreover, the stability and robustness constraints are achieved by a lower prediction horizon, which leads to a smaller dimension optimization problem. In addition, to reduce the computational complexity of the corresponding optimization problem, a suboptimal version of the proposed algorithm is introduced. Finally, numerical and car suspension system examples show the capabilities of the proposed method.
Author(s)
Olama, Alireza
Shasadeghi, Mokhtar
Ramezani, Amin
Khorramizadeh, Mostafa
Costa Mendes, Paulo Renato da
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik ITWM  
Journal
Transactions of the Institute of Measurement and Control  
DOI
10.1177/0142331218801126
Language
English
Fraunhofer-Institut für Techno- und Wirtschaftsmathematik ITWM  
Keyword(s)
  • Maximal positive invariant set

  • mixed logical dynamical systems

  • model predictive control

  • recursive feasibility

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