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A Nonlinear Model Predictive Control with Enlarged Region of Attraction via the Union of Invariant Sets

Author

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  • Ismi Rosyiana Fitri

    (Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Seoul 01811, Korea)

  • Jung-Su Kim

    (Department of Electrical and Information Engineering, Seoul National University of Science and Technology, Seoul 01811, Korea)

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.

Suggested Citation

  • Ismi Rosyiana Fitri & Jung-Su Kim, 2020. "A Nonlinear Model Predictive Control with Enlarged Region of Attraction via the Union of Invariant Sets," Mathematics, MDPI, vol. 8(11), pages 1-15, November.
    • Handle: RePEc:gam:jmathe:v:8:y:2020:i:11:p:2087-:d:449241
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    References listed on IDEAS

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    1. Shang, Yilun, 2016. "Consensus seeking over Markovian switching networks with time-varying delays and uncertain topologies," Applied Mathematics and Computation, Elsevier, vol. 273(C), pages 1234-1245.
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