Robust model predictive control for linear sampled-data systems with irregular sampling times

verfasst von

Philipp Buschermöhle, Torsten Lilge, Matthias A. Müller

Abstract

This paper presents a sampled-data tube-based robust MPC scheme for linear continuous-time systems with irregular sampling times. The sampled-data control law is updated only at discrete sampling instances, but the proposed controller guarantees constraint satisfaction of the continuous-time state for all times. The proposed MPC scheme allows for two sources of uncertainty, (i) uncertain sampling times and (ii) an additional disturbance to the continuous-time system. A constraint adaptation is presented to handle this setting in a rigid tube MPC framework. Constraint satisfaction and convergence of the continuous-time state are shown for the proposed MPC scheme.

Organisationseinheit(en)

Institut für Regelungstechnik

Typ

Artikel

Journal

IFAC-PapersOnLine

Band

56

Seiten

9399-9404

Anzahl der Seiten

6

Publikationsdatum

2023

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik

Elektronische Version(en)

https://doi.org/10.1016/j.ifacol.2023.10.231 (Zugang: Offen)