Abstract
In this paper, a constrained receding horizon output feedback control method which is based on a state observer is suggested. The proposed method adopts the receding horizon dual-mode paradigm which consists of a 'feasible invariant set' and 'free control moves'. Polyhedral feasible invariant sets of estimated state are derived along with guaranteed bounds on state estimation errors. The guaranteed bounds on the state estimation error are developed by considering invariant sets of state estimation errors which include possible initial estimation errors. Predictions of future states are made based on estimated current state and bounds on current estimation error. The free control moves are determined so that the predicted future state belongs to the polyhedral feasible invariant set, despite input constraints and measurement noise.
| Original language | English |
|---|---|
| Pages (from-to) | 656-661 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 1 |
| State | Published - 2000 |
| Event | 39th IEEE Confernce on Decision and Control - Sydney, NSW, Australia Duration: 12 Dec 2000 → 15 Dec 2000 |
Keywords
- Feasible and invariants sets
- Input saturation
- Observer
- Output feedback