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Suboptimal target control for hybrid automata using model predictive control

Pang, Y. and Spathopoulos, M.P. and Xia, H. (2006) Suboptimal target control for hybrid automata using model predictive control. Nonlinear Analysis: Theory, Methods and Applications, 65 (6). pp. 1211-1230. ISSN 0362-546X

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Abstract

In this paper, a computationally efficient controller is proposed for the target control problem when the system is modelled by hybrid automata. The design is carried out in two stages. First, we compute off-line the shortest switching path which has the minimum discrete cost from an initial set to the given target set. Next, a controller is derived which successfully drives the system from any given initial state in the initial set to the target set while minimizing a cost function. The model predictive control (MPC) technique is used when the current state is not within a guard set, otherwise the mixed-integer predictive control (MIPC) technique is employed. An on-line, semi-explicit control algorithm is derived by combining these two techniques. When the system is subject to additive bounded disturbance, it is shown that the proposed on-line control algorithm holds if tighter constraints on the original nominal state and controller are imposed. Finally, as an application of the proposed control procedure, the high-speed and energy-saving control problem of the CPU processing is considered.