Abstract
This paper presents an extension of the Two-Level Model Predictive Control (MPC) scheme presented in [13]. The procedure in [13] allows for computationally efficient MFC over a subset of the controllable state-space. The first controller level provides a stability guarantee and the second level optimizes performance. This two-level control scheme allows for a transparent tradeoff between the necessary on-line computation power and performance. However, the scheme also suffers from two drawbacks. The two-level controller [13] does not cover all controllable states and in order to guarantee constraint satisfaction in closed-loop, it is necessary to resort to open-loop control for certain initial states. These issues are dealt with in this paper. We will extend the procedure such that the controller covers the infinite time controllable set ∞(χ I) with closed-loop stability and feasibility guarantee. The set ∞ (χ I) denotes all states which may be driven to the set χ I by an admissible control law.
Original language | English (US) |
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Title of host publication | Proceedings of the American Control Conference |
Pages | 1586-1591 |
Number of pages | 6 |
Volume | 2 |
State | Published - 2004 |
Externally published | Yes |
Event | Proceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States Duration: Jun 30 2004 → Jul 2 2004 |
Other
Other | Proceedings of the 2004 American Control Conference (AAC) |
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Country/Territory | United States |
City | Boston, MA |
Period | 6/30/04 → 7/2/04 |
ASJC Scopus subject areas
- Control and Systems Engineering