Title :
A min-max model predictive control for a class of hybrid dynamical systems
Author :
Mukai, Masakazu ; Kojima, Akira ; Azuma, Takehito ; Fujita, Masayuki
Author_Institution :
Dept. of Electr. & Electron. Eng., Kanazawa Univ., Japan
Abstract :
This paper presents a min-max model predictive control algorithm for a class of hybrid systems by exploiting the equivalence between piecewise linear systems and mixed logical dynamical systems. The control algorithm consists of two control modes which are a state feedback mode and a min-max model predictive control mode. In the min-max model predictive control mode, the constrained positively invariant sets are used as the end set constraint, and an approach based on a min-max model predictive control formulation is employed. This control algorithm guarantees that the state converges to a union of constrained positively invariant sets with no constraint violation.
Keywords :
constraint theory; invariance; linear systems; minimax techniques; piecewise linear techniques; predictive control; state feedback; constrained sets; end set constraints; hybrid dynamical systems; invariant sets; logical dynamical system; minmax model; piecewise linear systems; predictive control algorithm; predictive control mode; state feedback mode; Control system synthesis; Control systems; Convergence; Piecewise linear techniques; Prediction algorithms; Predictive control; Predictive models; Remotely operated vehicles; State feedback; Systems engineering and theory;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on
Print_ISBN :
0-7803-7866-0
DOI :
10.1109/CIRA.2003.1222265
