Zonotopes

From Guaranteed State-estimation to Control

Inbunden, Engelska, 2013

Av Vu Tuan Hieu Le, Cristina Stoica, Teodoro Alamo, Eduardo F. Camacho, Didier Dumur, Eduardo F Camacho

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This title focuses on two significant problems in the field of automatic control, in particular state estimation and robust Model Predictive Control under input and state constraints, bounded disturbances and measurement noises. The authors build upon previous results concerning zonotopic set-membership state estimation and output feedback tube-based Model Predictive Control. Various existing zonotopic set-membership estimation methods are investigated and their advantages and drawbacks are discussed, making this book suitable both for researchers working in automatic control and industrial partners interested in applying the proposed techniques to real systems.The authors proceed to focus on a new method based on the minimization of the P-radius of a zonotope, in order to obtain a good trade-off between the complexity and the accuracy of the estimation. They propose a P-radius based set-membership estimation method to compute a zonotope containing the real states of a system, which are consistent with the disturbances and measurement noise. The problem of output feedback control using a zonotopic set-membership estimation is also explored. Among the approaches from existing literature on the subject, the implementation of robust predictive techniques based on tubes of trajectories is developed.

Produktinformation

Utgivningsdatum2013-10-25
Mått163 x 239 x 20 mm
Vikt454 g
FormatInbunden
SpråkEngelska
Antal sidor176
FörlagISTE Ltd and John Wiley & Sons Inc
ISBN9781848215894

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Matematik inom Naturvetenskap och teknik

Cristina STOICA is Assistant Professor at Automatic Control Department, SUPELEC Systems Sciences (E3S), Gif-sur-Yvette, France.Vu Tuan Hieu LE – Postdoctoral position, Unité de Recherche Informatique Automatique, Ecole des Mines de Douai, France.Teodoro ALAMO – Professor, Department of Ingenieria de Sistemas y Automatica, Universidad de Sevilla, Spain.Eduardo F. CAMACHO – Professor, Department of Ingenieria de Sistemas y Automatica, Universidad de Sevilla, Spain.Didier DUMUR – Professor, Automatic Control Department, SUPELEC Systems Sciences (E3S), Gif-sur-Yvette, France.

Notations viiAcronyms ixIntroduction xiChapter 1 Uncertainty Representation Based on Set Theory 11.1 Basic set definitions: advantages and weaknesses 31.1.1 Interval set 51.1.2 Ellipsoidal set 71.1.3 Polyhedral set 91.1.4 Zonotopic set 121.2 Main properties of zonotopes 17Chapter 2 Several Approaches on Zonotopic Guaranteed Set-Membership Estimation 272.1 Context 272.2 Problem formulation 322.2.1 Singular Value Decomposition-based method 352.2.2 Optimization-based methods 40vi ZonotopesChapter 3 Zonotopic Guaranteed State Estimation Based on P-Radius Minimization 493.1 Single-Output systems approach 493.2 Multi-Output systems approaches 633.2.1 General formulation 643.2.2 Extensions of the Single-Output systems methodology 673.2.3 Dedicated approach for Multi-Output systems 85Chapter 4 Tube Model Predictive Control Based on Zonotopic Set-Membership Estimation 954.1 Context 954.2 Problem formulation 1004.3 Tube-based output feedback Model Predictive Control design 1004.4 Application on the magnetic levitation system 1124.4.1 System description 1134.4.2 Control problem 116Conclusion and Perspectives 125Appendix Basic Matrix Operation Definitions 129Bibliography 133Index 149