A recentred barrier for constrained receding horizon control

A.G. Wills; W.P. Heath

doi:10.1109/ACC.2002.1024586

A recentred barrier for constrained receding horizon control

A.G. Wills
, W.P. Heath

The University of Newcastle

Allbwn ymchwil: Cyfraniad at gynhadledd › Papur › adolygiad gan gymheiriaid

Crynodeb

Constrained receding horizon controllers are often designed to govern the system state to some desired set-point subject to input constraints. This paper presents a class of receding horizon controllers which satisfy such constraints via the inclusion of a 'recentred barrier function'. The significance of such a controller is that hard constraints are replaced with penalty type soft constraints. The resulting control law is cautious near constraint boundaries with the degree of caution being determined by a positive weighting parameter. This approach is applicable to general convex objective functions with convex inequality constraints. We illustrate this idea by way of an example application to linear discrete-time plant models with linear and convex quadratic static input constraints

Iaith wreiddiol	Anadnabyddus
Tudalennau	4177-4182
Nifer y tudalennau	6
Dynodwyr Gwrthrych Digidol (DOIs)	https://doi.org/10.1109/ACC.2002.1024586
Statws	Cyhoeddwyd - 7 Tach 2002
Cyhoeddwyd yn allanol	Ie
Digwyddiad	Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) - Anchorage, Yr Unol Daleithiau Hyd: 8 Mai 2002 → 10 Mai 2002

Cynhadledd

Cynhadledd	Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)
Gwlad/Tiriogaeth	Yr Unol Daleithiau
Dinas	Anchorage
Cyfnod	8/05/02 → 10/05/02

Mynediad at Ddogfen

10.1109/ACC.2002.1024586

Dyfynnu hyn

@conference{9ebcba32c07a4a45995dd748f92c530a,

title = "A recentred barrier for constrained receding horizon control",

abstract = "Constrained receding horizon controllers are often designed to govern the system state to some desired set-point subject to input constraints. This paper presents a class of receding horizon controllers which satisfy such constraints via the inclusion of a 'recentred barrier function'. The significance of such a controller is that hard constraints are replaced with penalty type soft constraints. The resulting control law is cautious near constraint boundaries with the degree of caution being determined by a positive weighting parameter. This approach is applicable to general convex objective functions with convex inequality constraints. We illustrate this idea by way of an example application to linear discrete-time plant models with linear and convex quadratic static input constraints",

author = "A.G. Wills and W.P. Heath",

year = "2002",

month = nov,

day = "7",

doi = "10.1109/ACC.2002.1024586",

language = "Anadnabyddus",

pages = "4177--4182",

note = "Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) ; Conference date: 08-05-2002 Through 10-05-2002",

}

TY - CONF

T1 - A recentred barrier for constrained receding horizon control

AU - Wills, A.G.

AU - Heath, W.P.

PY - 2002/11/7

Y1 - 2002/11/7

N2 - Constrained receding horizon controllers are often designed to govern the system state to some desired set-point subject to input constraints. This paper presents a class of receding horizon controllers which satisfy such constraints via the inclusion of a 'recentred barrier function'. The significance of such a controller is that hard constraints are replaced with penalty type soft constraints. The resulting control law is cautious near constraint boundaries with the degree of caution being determined by a positive weighting parameter. This approach is applicable to general convex objective functions with convex inequality constraints. We illustrate this idea by way of an example application to linear discrete-time plant models with linear and convex quadratic static input constraints

AB - Constrained receding horizon controllers are often designed to govern the system state to some desired set-point subject to input constraints. This paper presents a class of receding horizon controllers which satisfy such constraints via the inclusion of a 'recentred barrier function'. The significance of such a controller is that hard constraints are replaced with penalty type soft constraints. The resulting control law is cautious near constraint boundaries with the degree of caution being determined by a positive weighting parameter. This approach is applicable to general convex objective functions with convex inequality constraints. We illustrate this idea by way of an example application to linear discrete-time plant models with linear and convex quadratic static input constraints

U2 - 10.1109/ACC.2002.1024586

DO - 10.1109/ACC.2002.1024586

M3 - Papur

SP - 4177

EP - 4182

T2 - Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)

Y2 - 8 May 2002 through 10 May 2002

ER -