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Tube-based model predictive control for linear systems with bounded disturbances and input delay.

Lihan Zhou1, Shan Ma1, Lihui Cen1

  • 1School of Automation, Central South University, Changsha 410083, China.

ISA Transactions
|May 3, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a novel tube-based model predictive control for linear systems, ensuring stability despite disturbances and input delays. The method guarantees system states remain within a robustly invariant tube.

Keywords:
Asymptotic stabilityInput delayInput-to-state stabilityTube model predictive control

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Area of Science:

  • Control Theory
  • Systems Engineering
  • Robotics

Background:

  • Linear systems are susceptible to bounded disturbances and input delays.
  • Ensuring input-to-state stability in such systems is a significant challenge.

Purpose of the Study:

  • To develop a tube-based model predictive control (MPC) strategy.
  • To guarantee input-to-state stability for linear systems with disturbances and input delay.

Main Methods:

  • Decomposing the system into nominal and error components.
  • Utilizing optimization for a nominal control law.
  • Applying the Razumikhin approach and set invariance for robust control.

Main Results:

  • A control law is derived by combining nominal and ancillary control laws.
  • The developed strategy confines system states within a robustly invariant tube.
  • Simulations confirm the effectiveness of the proposed control strategy.

Conclusions:

  • The proposed tube-based MPC strategy effectively ensures input-to-state stability.
  • This approach provides a robust solution for controlling linear systems with disturbances and delays.