A nonlinear model predictive control with enlarged region of attraction via the union of invariant sets

Ismi Rosyiana Fitri, Jung Su Kim

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

In the dual-mode model predictive control (MPC) framework, the size of the stabilizable set, which is also the region of attraction, depends on the terminal constraint set. This paper aims to formulate a larger terminal set for enlarging the region of attraction in a nonlinear MPC. Given several control laws and their corresponding terminal invariant sets, a convex combination of the given sets is used to construct a time-varying terminal set. The resulting region of attraction is the union of the regions of attraction from each invariant set. Simulation results show that the proposed MPC has a larger stabilizable initial set than the one obtained when a fixed terminal set is used.

Original languageEnglish
Article number2087
Pages (from-to)1-15
Number of pages15
JournalMathematics
Volume8
Issue number11
DOIs
Publication statusPublished - Nov 2020

Keywords

  • Interpolation method
  • MPC
  • Nonlinear

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