کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
697695 | 890379 | 2009 | 7 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Controlled invariant feasibility — A general approach to enforcing strong feasibility in MPC applied to move-blocking Controlled invariant feasibility — A general approach to enforcing strong feasibility in MPC applied to move-blocking](/preview/png/697695.png)
Strong feasibility of MPC problems is usually enforced by constraining the state at the final prediction step to a controlled invariant set. However, such terminal constraints fail to enforce strong feasibility in a rich class of MPC problems, for example when employing move-blocking. In this paper a generalized, least restrictive approach for enforcing strong feasibility of MPC problems is proposed and applied to move-blocking MPC. The approach hinges on the novel concept of controlled invariant feasibility . Instead of a terminal constraint, the state of an earlier prediction step is constrained to a controlled invariant feasible set. Controlled invariant feasibility is a generalization of controlled invariance. The convergence of well-known approaches for determining maximum controlled invariant sets, and jj-step admissible sets, is formally proved. Thus an algorithm for rigorously approximating maximum controlled invariant feasible sets is developed for situations where the exact maximum cannot be determined.
Journal: Automatica - Volume 45, Issue 12, December 2009, Pages 2869–2875