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)

178865.pdf - Accepted Version



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
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
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

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