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

Sorin Olaru, Hichem Benlaoukli, Silviu-Iulian Niculescu

2008

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.

Paper Citation

in Harvard Style

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 3: ICINCO, ISBN 978-989-8111-32-6, pages 177-182. DOI: 10.5220/0001501001770182

in Bibtex Style

@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 3: ICINCO,},
year={2008},
pages={177-182},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001501001770182},
isbn={978-989-8111-32-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - MPC FOR SYSTEMS WITH VARIABLE TIME-DELAY - Robust Positive Invariant Set Approximations
SN - 978-989-8111-32-6
AU - Olaru S.
AU - Benlaoukli H.
AU - Niculescu S.
PY - 2008
SP - 177
EP - 182
DO - 10.5220/0001501001770182