Colloquium "Model Predictive Control of Linear Parameter Varying Systems: Ellipsoidal Tube and Flexible Lyapunov Function Approach"

Abstract:

In this talk a piece-wise ellipsoidal Model Predictive Control (MPC) method will be presented for constrained control of Linear Parameter-Varying (LPV) systems. The proposed method is based on the off-line computation of a sequence of piece-wise ellipsoidal one-step controllable sets to a suitably chosen robust terminal set In order to guarantee stability, a flexible control Lyapunov function is used, which guarantees convergence inside the terminal set, and allows non-monotone decrease of the Lyapunov function outside the terminal set. Furthermore, a condition which allows less conservative convergence towards the terminal set is presented. In order to show the real time feasibility of the proposed algorithm, it is applied to the real time control of a control momentum gyroscope (CMG) which is a device generally used in spacecraft attitude control systems.

CV:

Šandor Ileš (Osijek, 1985) is research assistant at the Faculty of Electrical Engineering and Computing, University of Zagreb. He received his master degree (dipl. ing.) in Electrical Engineering, majoring in Control, from the Faculty of Electrical Engineering and Computing (FER) in 2009. Currently he is enrolled in the PhD study at the same faculty and he is member of the MELAB group at the Department of Electrical Machines, Drives and Automation at FER.