Set-Membership Computation of Admissible Controls for Trajectory Tracking

Olivier Mullier , Estelle Courtial (1)

1 Pôle IRAuS, Autom

In a context of predictive control strategy, this paper addresses the computation of admissible control set for a trajectory tracking over a prediction horizon. The proposed method combines numerical methods based on set-membership computation and control methods based on a flatness concept. It makes possible i) to provide a guaranteed computation of admissible controls, ii) to deal with uncertain reference trajectory, iii) to reduce the time complexity of the algorithm compared to the existing approach. Simulations illustrate the efficiency of the developed methods in two different cases. For Single Input-Single Output (SISO) systems, generalized affine forms are computed otherwise a Branch & Prune algorithm with an inner inclusion test is used for Multi Inputs-Multi Outputs (MIMO) systems. The computational time is reduced significantly compared to the one required by the existing approach.

Mots clés: nonlinear predictive control; flatness; discrete-time systems; set-membership computation

Domaines: Systèmes et contrôle [cs.SY]

Olivier Mullier, Estelle Courtial. Set-Membership Computation of Admissible Controls for Trajectory Tracking. Reliable Computing, 2017. ⟨hal-01657736⟩