Robust Constrained Interpolating Control of Interconnected Systems

Scialanga, S. and Ampountolas, K. (2019) Robust Constrained Interpolating Control of Interconnected Systems. In: 2018 IEEE Conference on Decision and Control (CDC), Miami, FL, USA, 17-19 Dec 2018, pp. 7016-7021. ISBN 9781538613955 (doi: 10.1109/CDC.2018.8619513)

Abstract

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.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Scialanga, Sheila and Ampountolas, Dr Konstantinos
• Authors: Scialanga, S., and Ampountolas, K.
• College/School: College of Science and Engineering > School of Engineering; College of Science and Engineering > School of Engineering > Infrastructure and Environment
• ISSN: 2576-2370
• ISBN: 9781538613955
• Published Online: 21 January 2019
• Copyright Holders: Copyright © 2018 IEEE
• First Published: First published in Proceedings of the 2018 IEEE Conference on Decision and Control (CDC): 7016-7021
• Publisher Policy: Reproduced in accordance with the publisher copyright policy