Constrained Model Predictive Control for Time-Varying Delays Systems: Application to an Active Car Suspension
No Thumbnail Available
Date
2016
Journal Title
Journal ISSN
Volume Title
Publisher
International Journal of Control, Automation and Systems, Springer
Abstract
This study investigates the problem of robust model predictive control (RMPC) for active suspension systems with time-varying delays and input constraints. The uncertainty is of convex polytopic type. Based on the Lyapunov-Krasovskii functional method, sufficient stability conditions of the time-varying delays systems are derived by linear matrix inequalities (LMIs) terms. At each time set, a feasible state feedback is obtained by minimizing an upper bound of the ‘worst-case’ quadratic objective function over an infinite horizon subject to constraints on inputs. Finally, a quarter-vehicle model is exploited to demonstrate the effectiveness of the proposed method.