Persistently exciting tube MPC

descriptionPublicationkeyboard_double_arrow_right Article , Preprint , Conference object , Other literature type 01 Jul 2016Embargo end date: 01 Jan 2015 United Kingdom Publisher:IEEEJournal:2016 American Control Conference (ACC)

Authors: Hernandez Vicente, B.; Trodden, P.;

doi: 10.1109/acc.2016.7525037 , 10.48550/arxiv.1505.05772

arXiv: 1505.05772

Persistently exciting tube MPC

- Summary
- Subjects
- Metrics

Abstract

This paper presents a new approach to deal with the dual problem of system identification and regulation. The main feature consists of breaking the control input to the system into a regulator part and a persistently exciting part. The former is used to regulate the plant using a robust MPC formulation, in which the latter is treated as a bounded additive disturbance. The identification process is executed by a simple recursive least squares algorithm. In order to guarantee sufficient excitation for the identification, an additional non-convex constraint is enforced over the persistently exciting part.

Accepted for presentation at the American Control Conference 2016 (Boston, MA)

Country

United Kingdom

Related Organizations

University of Sheffield
United Kingdom
White Rose Consortium: University of Leeds; University of Sheffield; University of York
United Kingdom

Keywords

J.2, math.OC, I.2.8, Systems and Control (eess.SY), I.2.8; J.2, cs.SY, Electrical Engineering and Systems Science - Systems and Control, Optimization and Control (math.OC), FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, Mathematics - Optimization and Control

Impact byBIP!

	selected citations These citations are derived from selected sources. This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	4
	popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.	Average
	influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).	Average
	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average