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arXiv · 2309.02384

Parameter Dependent Robust Control Invariant Sets for LPV Systems with Bounded Parameter Variation Rate

Sampath Kumar Mulagaleti·Manas Mejari·Alberto Bemporad
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Abstract

Real-time measurements of the scheduling parameter of linear parameter-varying (LPV) systems enables the synthesis of robust control invariant (RCI) sets and parameter dependent controllers inducing invariance. We present a method to synthesize parameter-dependent robust control invariant (PD-RCI) sets for LPV systems with bounded parameter variation, in which invariance is induced using PD-vertex control laws. The PD-RCI sets are parameterized as configuration-constrained polytopes that admit a joint parameterization of their facets and vertices. The proposed sets and associated control laws are computed by solving a single semidefinite programing (SDP) problem. Through numerical examples, we demonstrate that the proposed method outperforms state-of-the-art methods for synthesizing PD-RCI sets, both with respect to conservativeness and computational load.

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Sampath Kumar Mulagaleti, Manas Mejari, Alberto Bemporad. 2023-09-05. Parameter Dependent Robust Control Invariant Sets for LPV Systems with Bounded Parameter Variation Rate. https://doi.org/10.1109/tac.2024.3454528

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