This title focuses on two significant problems in the field of
automatic control, in particular state estimation and robust Model
Predictive Control under input and state constraints, bounded
disturbances and measurement noises. The authors build upon
previous results concerning zonotopic set-membership state
estimation and output feedback tube-based Model Predictive Control.
Various existing zonotopic set-membership estimation methods are
investigated and their advantages and drawbacks are discussed,
making this book suitable both for researchers working in automatic
control and industrial partners interested in applying the proposed
techniques to real systems.
The authors proceed to focus on a new method based on the
minimization of the P-radius of a zonotope, in order to obtain a
good trade-off between the complexity and the accuracy of the
estimation. They propose a P-radius based set-membership estimation
method to compute a zonotope containing the real states of a
system, which are consistent with the disturbances and measurement
noise. The problem of output feedback control using a zonotopic
set-membership estimation is also explored. Among the approaches
from existing literature on the subject, the implementation of
robust predictive techniques based on tubes of trajectories is
developed.
Contents
1. Uncertainty Representation Based on Set Theory.
2. Several Approaches on Zonotopic Guaranteed Set-Membership
Estimation.
3. Zonotopic Guaranteed State Estimation Based on P-Radius
Minimization.
4. Tube Model Predictive Control Based on Zonotopic Set-Membership
Estimation.
About the Authors
Vu Tuan Hieu Le is a Research Engineer at the IRSEEM/ESIGELEC
Technopôle du Madrillet, Saint Etienne du Rouvray,
France.
Cristina Stoica is Assistant Professor in the Automatic Control
Department at SUPELEC Systems Sciences (E3S), France.
Teodoro Alamo is Professor in the Department of Systems Engineering
and Automatic Control at the University of Seville, Spain.
Eduardo F. Camacho is Professor in the Department of Systems
Engineering and Automatic Control at the University of Seville,
Spain.
Didier Dumur is Professor in the Automatic Control Department,
SUPELEC Systems Sciences (E3S), France.
Spis treści
Notations vii
Acronyms ix
Introduction xi
Chapter 1 Uncertainty Representation Based on Set Theory 1
1.1 Basic set definitions: advantages and weaknesses 3
1.1.1 Interval set 5
1.1.2 Ellipsoidal set 7
1.1.3 Polyhedral set 9
1.1.4 Zonotopic set 12
1.2 Main properties of zonotopes 17
Chapter 2 Several Approaches on Zonotopic Guaranteed Set-Membership Estimation 27
2.1 Context 27
2.2 Problem formulation 32
2.2.1 Singular Value Decomposition-based method 35
2.2.2 Optimization-based methods 40
vi Zonotopes
Chapter 3 Zonotopic Guaranteed State Estimation Based on P-Radius Minimization 49
3.1 Single-Output systems approach 49
3.2 Multi-Output systems approaches 63
3.2.1 General formulation 64
3.2.2 Extensions of the Single-Output systems methodology 67
3.2.3 Dedicated approach for Multi-Output systems 85
Chapter 4 Tube Model Predictive Control Based on Zonotopic Set-Membership Estimation 95
4.1 Context 95
4.2 Problem formulation 100
4.3 Tube-based output feedback Model Predictive Control design 100
4.4 Application on the magnetic levitation system 112
4.4.1 System description 113
4.4.2 Control problem 116
Conclusion and Perspectives 125
Appendix Basic Matrix Operation Definitions 129
Bibliography 133
Index 149
O autorze
Cristina STOICA is Assistant Professor at Automatic Control Department, SUPELEC Systems Sciences (E3S), Gif-sur-Yvette, France.
Vu Tuan Hieu LE – Postdoctoral position, Unité de Recherche Informatique Automatique, Ecole des Mines de Douai, France.
Teodoro ALAMO – Professor, Department of Ingenieria de Sistemas y Automatica, Universidad de Sevilla, Spain.
Eduardo F. CAMACHO – Professor, Department of Ingenieria de Sistemas y Automatica, Universidad de Sevilla, Spain.
Didier DUMUR – Professor, Automatic Control Department, SUPELEC Systems Sciences (E3S), Gif-sur-Yvette, France.
Więcej książek elektronicznych tego samego autora (ów) / Redaktor
2 425 Ebooki w tej kategorii
