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This paper proposes a design mainly using of model predictive control for the chained non-holonomic systems. Reorganising the chained system into two subsystem, combine a exponential decaying term to deal with the uncontrollable which carry by the vanishing of u1. After state scaling transformation, a model predictive control (MPC) method is developed for the chained systems. The MPC method iteratively...
A robust model predictive control algorithm is proposed for linear systems with input saturation in this paper. Polytopic uncertain systems and structured time-varying uncertain systems are respectively considered. An infinite horizon worst-case performance function is used as on-line optimization objective. Using a saturated linear feedback controller, the control action can be obtained by solving...
A constrained robust model predictive control algorithm for linear systems with polytopic uncertainty is presented in this paper. At each sample time the algorithm aims at minimizing an infinite horizon worst-case quadratic cost function. Compared with existed techniques, the proposed algorithm uses a sequence of slack inequalities to construct a tighter upper bound of robust cost function. A control...
A stabilizing output feedback model predictive control algorithm is proposed for linear systems with input constraints. Dual mode control strategy is adopted: the state observer, linear feedback controller and terminal constraint set are pre-computed; if the state is contained in terminal constraint set, linear feedback controller is used; otherwise a linear control structure with free vector is used,...
Two features are frequently encountered in control practice: the necessity of satisfying input/state constraints and the presence of external disturbances. This paper proposes an approach to design a feedback controller for disturbance rejection without violating constraints. Robust invariant ellipsoid is introduced and a sufficient condition for it is presented for discrete-time linear systems with...
A design method of switch controller is proposed for linear systems with input saturation. The key idea of switch controller is that, in each switching region, a local linear controller is selected such that the constraints imposed by saturation are not violated. Here a sequence of linear quadratic (LQ) controllers is pre-computed as local linear controllers. And for each local LQ controller, a corresponding...
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