Control of constrained nonlinear uncertain discrete-time systems via robust controllable sets: a modal interval analysis approach

Jian Wan, Josep Vehi, Ningsu Luo, Pau Herrero

Research output: Contribution to journalArticlepeer-review

Abstract

A general framework for computing robust controllable sets of constrained nonlinear uncertain discrete-time systems as well as controlling such complex systems based on the computed robust controllable sets is introduced in this paper. The addressed one-step control approach turns out to be a robust model predictive control scheme with feasible unit control horizon and contractive constraint. The solver of 1-dimensional quantified set inversion in modal interval analysis is extended to 2-dimensional cases for computing robust controllable sets off-line with a clear semantic interpretation, where both universal and existential quantifiers are concerned simultaneously. An interval-based solver of constrained minimax optimization is also proposed to compute one-step control inputs online in a reliable way, which guarantee to drive the system state contractively along the computed robust controllable sets to a selected terminal robust control invariant set.
Original languageEnglish
Pages (from-to)189 - 204
JournalEsaim-Control Optimisation and Calculus of Variations
Volume15
Issue number1
DOIs
Publication statusPublished - Jan 2009

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