Reference dependent invariant sets: Sum of squares based computation and applications in constrained control

Article number 109614

Detalhes bibliográficos
Autores: Cotorruelo, Andres, Hosseinzadeh, Mehdi, Rodríguez Ramírez, Daniel, Limón Marruedo, Daniel, Garone, Emanuele
Formato: artículo
Estado:Versión aceptada para publicación
Fecha de publicación:2021
País:España
Recursos:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/137411
Acesso em linha:https://hdl.handle.net/11441/137411
https://doi.org/10.1016/j.automatica.2021.109614
Access Level:acceso abierto
Palavra-chave:Invariance
Control of Constrained Systems
Sum of Squares
Tracking
Reference Dependence
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spelling Reference dependent invariant sets: Sum of squares based computation and applications in constrained controlCotorruelo, AndresHosseinzadeh, MehdiRodríguez Ramírez, DanielLimón Marruedo, DanielGarone, EmanueleInvarianceControl of Constrained SystemsSum of SquaresTrackingReference DependenceArticle number 109614The goal of this paper is to present a systematic method to compute reference dependent positively in- variant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent Lyapunov functions. Based on this characterization and using Sum of Squares theory, we provide a polynomial certificate for the existence of such sets. Subsequently, through some algebraic manipulations, we express this certificate in terms of a Semi-Definite Programming problem which maximizes the size of the resulting reference dependent invariant sets. We then present some results implementing the proposed method to an example and propose some variants that may help in reducing possible numerical issues. Finally, the proposed approach is employed in the Model Predictive Control for Tracking scheme to compute the terminal set, and in the Explicit Reference Governor framework to compute the so-called Dynamic Safety Margin. The effectiveness of the proposed method in each of the schemes is demonstrated through simulation studies.Ministerio de Economía y Competitividad de España DPI2016-76493-C3-1-RMinisterio de Ciencia e Innovación (España) PID2019-106212RB-C41Elsevier LtdIngeniería de Sistemas y AutomáticaMinisterio de Economía y Competitividad de EspañaMinisterio de Ciencia e Innovación (España)European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)Fondo Nacional de Investigación Científica (FNRS)2021info:eu-repo/semantics/articleinfo:eu-repo/semantics/acceptedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/137411https://doi.org/10.1016/j.automatica.2021.109614reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésAutomatica, 129, 109614.DPI2016-76493-C3-1-RPID2019-106212RB-C41https://www.sciencedirect.com/science/article/pii/S0005109821001345info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1374112026-06-17T12:51:07Z
dc.title.none.fl_str_mv Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
title Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
spellingShingle Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
Cotorruelo, Andres
Invariance
Control of Constrained Systems
Sum of Squares
Tracking
Reference Dependence
title_short Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
title_full Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
title_fullStr Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
title_full_unstemmed Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
title_sort Reference dependent invariant sets: Sum of squares based computation and applications in constrained control
dc.creator.none.fl_str_mv Cotorruelo, Andres
Hosseinzadeh, Mehdi
Rodríguez Ramírez, Daniel
Limón Marruedo, Daniel
Garone, Emanuele
author Cotorruelo, Andres
author_facet Cotorruelo, Andres
Hosseinzadeh, Mehdi
Rodríguez Ramírez, Daniel
Limón Marruedo, Daniel
Garone, Emanuele
author_role author
author2 Hosseinzadeh, Mehdi
Rodríguez Ramírez, Daniel
Limón Marruedo, Daniel
Garone, Emanuele
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
Ministerio de Economía y Competitividad de España
Ministerio de Ciencia e Innovación (España)
European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)
Fondo Nacional de Investigación Científica (FNRS)
dc.subject.none.fl_str_mv Invariance
Control of Constrained Systems
Sum of Squares
Tracking
Reference Dependence
topic Invariance
Control of Constrained Systems
Sum of Squares
Tracking
Reference Dependence
description Article number 109614
publishDate 2021
dc.date.none.fl_str_mv 2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/acceptedVersion
format article
status_str acceptedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/137411
https://doi.org/10.1016/j.automatica.2021.109614
url https://hdl.handle.net/11441/137411
https://doi.org/10.1016/j.automatica.2021.109614
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Automatica, 129, 109614.
DPI2016-76493-C3-1-R
PID2019-106212RB-C41
https://www.sciencedirect.com/science/article/pii/S0005109821001345
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier Ltd
publisher.none.fl_str_mv Elsevier Ltd
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301603

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