Periodic Set Invariance as a Tool for Constrained Reference Tracking - CentraleSupélec Access content directly
Conference Papers Year : 2020

Periodic Set Invariance as a Tool for Constrained Reference Tracking

Martin Soyer
Sorin Olaru
Konstantinos Ampountolas
Zhou Fang
  • Function : Author
  • PersonId : 1057501

Abstract

This paper explores the concept of periodic invariance and its use for trajectory tracking problems subject to state and input constraints, offering important computational advantages. In principle, traditional techniques based on receding horizon optimization are computationally expensive due to long prediction and optimization horizons, and number of control and state constraints in a constrained control problem. Their complexity is further affected by additional constraints needed to ensure recursive feasibility via a controllable invariant set. Practically, such invariant sets are difficult to obtain off-line and use them on-line. To overcome this problem, this paper suggests to employ periodic invariant sets as a simple set-theoretic tool for constrained reference tracking problems.
Fichier principal
Vignette du fichier
IBT_IFAC_2020(2).pdf (500.92 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-02899420 , version 1 (14-01-2021)

Identifiers

Cite

Martin Soyer, Sorin Olaru, Konstantinos Ampountolas, Sheila Scialanga, Zhou Fang. Periodic Set Invariance as a Tool for Constrained Reference Tracking. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin (virtual), Germany. ⟨10.1016/j.ifacol.2020.12.384⟩. ⟨hal-02899420⟩
70 View
78 Download

Altmetric

Share

Gmail Facebook X LinkedIn More