HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Book sections

Predictive control for delay systems: theory and applications

Abstract : In industrial processes, time delay often occurs in many dynamical systems, such as chemical processes, communication systems, and vehicle systems. Presence of time delay in a process increases the difficulty of controlling such systems. These delays can affect the state, input, and output; they can be constant or time varying, known or unknown, deterministic or stochastic depending on the systems under consideration. In this chapter, we propose a robust model predictive control (MPC) algorithm for a class of uncertain discrete-time systems with both states and input delays. We consider the constant and time-varying delay cases as well as the state feedback case. The uncertainty is assumed polytopic with a known upper bound. By the augmented system description we reduce a robust model predictive control law to a convex optimization involving linear matrix inequalities (LMIs). After defining an optimization problem that minimizes a cost function at each time instant, we compute a state feedback by minimizing the upper bound of the cost function subject to constraints on inputs. We give closed-loop stability conditions on the systematic construction of a Lyapunov–Krasovskii functional and compare its robustness properties with the standard MPC in the presence of parameter uncertainties and delay systems. Finally, we study the constrained control problem for a quarter-vehicle model and nonlinear system using the proposed robust MPC.
Document type :
Book sections
Complete list of metadata

https://hal.archives-ouvertes.fr/hal-03169120
Contributor : Frédéric Davesne Connect in order to contact the contributor
Submitted on : Monday, March 15, 2021 - 10:19:26 AM
Last modification on : Monday, December 13, 2021 - 9:17:19 AM

Identifiers

Citation

Sofiane Bououden, Mohammed Chadli. Predictive control for delay systems: theory and applications. Control Strategy for Time-Delay Systems, Elsevier, pp.143--178, 2021, ⟨10.1016/B978-0-32-385347-7.00011-0⟩. ⟨hal-03169120⟩

Share

Metrics

Record views

49