Robust Constrained Interpolating Control of Interconnected Systems

This paper presents a decentralised interpolating control scheme for the robust constrained control of uncertain linear discrete-time interconnected systems with local state and control constraints. The control law of each distinct subsystem relies on the gentle interpolation between a local high-gain controller with a global low-gain controller. Both controllers benefit from the computation of separable robust invariant sets for local control design, which overcomes the computational burden of large-scale systems. Another advantage is that for each subsystem both low-and high-gain controllers can be efficiently determined off-line, while the inexpensive interpolation between them is performed on-line. For the interpolation, a new low-dimensional linear programming problem is solved at each time instant. Proofs of recursive feasibility and robust asymptotic stability of the proposed control are provided. A numerical example demonstrates the robustness of decentralised interpolating control against model uncertainty and disturbances. The proposed robust control is computationally inexpensive, and thus it is well suited for large-scale applications

Interpolating Control Toolbox (ICT)

Interpolating control toolbox (ICT) is a free and open-source MATLAB toolbox that implements interpolation-based control (IC) for time-invariant and uncertain time-varying linear discrete-time systems with local state and control constraints. The toolbox combines geometrical features to compute robust invariant sets offline and solves a linear programming problem to compute the required IC online. This paper provides an overview on interpolating control and shows how to use ICT to robustly control input centralised and input decentralised interconnected systems. ICT includes some demo files to compare the performance of centralised versus decentralised IC

Interpolating Constrained Control of Interconnected Systems

This paper presents a decentralised interpolating control scheme for the control of linear discrete-time interconnected systems with local state and control constraints. The control law of each distinct subsystem relies on the gentle interpolation between a local high- gain controller, which satisfies some user-desired performance specifications, with a global low-gain controller. For each subsystem both low- and high-gain controllers can be efficiently determined off-line, while the inexpensive interpolation between them is performed on-line. For the interpolation, a new low-dimensional linear programming formulation is developed, which is computationally less expensive compared to previous works. Therefore, it is appropriate for real- time control of large-scale interconnected systems. Proofs of recursive feasibility and asymptotic stability of the interpolating scheme are given for decoupled as well as interconnected subsystems with coupled state constraints. Two numerical examples show that the proposed decentralised interpolating control outperforms previously proposed interpolating schemes. Finally, it is faster than model predictive control, while their control behaviour and performance is almost identical

Interpolating Control Toolbox (ICT)

Interpolating control toolbox (ICT) is a free and open-source MATLAB toolbox that implements interpolation-based control (IC) for time-invariant and uncertain time-varying linear discrete-time systems with local state and control constraints. The toolbox combines geometrical features to compute robust invariant sets offline and solves a linear programming problem to compute the required IC online. This paper provides an overview on interpolating control and shows how to use ICT to robustly control input centralised and input decentralised interconnected systems. ICT includes some demo files to compare the performance of centralised versus decentralised IC

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