Journal of Systems Engineering and Electronics 2010, 21(6) 1090-1094 DOI:   10.3969/j.issn.1004-4132.2010.06.024  ISSN: 1004-4132 CN: 11-3018/N

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Keywords
constrained optimal predictive control
multi-parametric quadratic programming
dynamic programming
receding horizon control
positively invariant set
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PubMed

Stabilizing model predictive control scheme for piecewise affine systems with maximal positively invariant terminal set

Fu Chen1,2,*, Guangzhou Zhao1, and Xiaoming Yu1

1. College of System Science and Engineering, Zhejiang University, Hangzhou 310027, P. R. China;
2. Key Laboratory of Tobacco Processing Technology, Zhengzhou Tobacco Research Institute of CNTC,    Zhengzhou 450001, P. R. China

Abstract��

An efficient algorithm is proposed for computing the solution to the constrained finite time optimal control (CFTOC) problem for discrete-time piecewise affine (PWA) systems with a quadratic performance index. The maximal positively invariant terminal set, which is feasible and invariant with respect to a feedback control law, is computed as terminal target set and an associated Lyapunov function is chosen as terminal cost. The combination of these two components guarantees constraint satisfaction and closed-loop stability for all time. The proposed algorithm combines a dynamic programming strategy with a multi-parametric quadratic programming solver and basic polyhedral manipulation. A numerical example shows that a larger stabilizable set of states can be obtained by the proposed algorithm than precious work.

Keywords�� constrained optimal predictive control   multi-parametric quadratic programming   dynamic programming   receding horizon control   positively invariant set  
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DOI: 10.3969/j.issn.1004-4132.2010.06.024
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