dc.creator | Cotorruelo, Andres | es |
dc.creator | Hosseinzadeh, Mehdi | es |
dc.creator | Rodríguez Ramírez, Daniel | es |
dc.creator | Limón Marruedo, Daniel | es |
dc.creator | Garone, Emanuele | es |
dc.date.accessioned | 2022-09-27T16:15:21Z | |
dc.date.available | 2022-09-27T16:15:21Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | Cotorruelo, A., Hosseinzadeh, M., Ramírez, D.R., Limón, D. y Garone, E. (2021). Reference dependent invariant sets: Sum of squares based computation and applications in constrained control. Automatica, 129, Article number 109614. | |
dc.identifier.issn | 0005-1098 | es |
dc.identifier.uri | https://hdl.handle.net/11441/137411 | |
dc.description | Article number 109614 | es |
dc.description.abstract | The goal of this paper is to present a systematic method to compute reference dependent positively in-
variant sets for systems subject to constraints. To this end, we first characterize these sets as level sets
of reference dependent Lyapunov functions. Based on this characterization and using Sum of Squares
theory, we provide a polynomial certificate for the existence of such sets. Subsequently, through some
algebraic manipulations, we express this certificate in terms of a Semi-Definite Programming problem
which maximizes the size of the resulting reference dependent invariant sets. We then present some
results implementing the proposed method to an example and propose some variants that may help in
reducing possible numerical issues. Finally, the proposed approach is employed in the Model Predictive
Control for Tracking scheme to compute the terminal set, and in the Explicit Reference Governor
framework to compute the so-called Dynamic Safety Margin. The effectiveness of the proposed method
in each of the schemes is demonstrated through simulation studies. | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad de España DPI2016-76493-C3-1-R | es |
dc.description.sponsorship | Ministerio de Ciencia e Innovación (España) PID2019-106212RB-C41 | es |
dc.format | application/pdf | es |
dc.format.extent | 9 p. | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier Ltd | es |
dc.relation.ispartof | Automatica, 129, 109614. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Invariance | es |
dc.subject | Control of Constrained Systems | es |
dc.subject | Sum of Squares | es |
dc.subject | Tracking | es |
dc.subject | Reference Dependence | es |
dc.title | Reference dependent invariant sets: Sum of squares based computation and applications in constrained control | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/acceptedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | DPI2016-76493-C3-1-R | es |
dc.relation.projectID | PID2019-106212RB-C41 | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S0005109821001345 | es |
dc.identifier.doi | 10.1016/j.automatica.2021.109614 | es |
dc.journaltitle | Automatica | es |
dc.publication.volumen | 129 | es |
dc.publication.initialPage | 109614 | es |
dc.contributor.funder | Ministerio de Economía y Competitividad de España | es |
dc.contributor.funder | Ministerio de Ciencia e Innovación (España) | es |
dc.contributor.funder | European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER) | es |
dc.contributor.funder | Fondo Nacional de Investigación Científica (FNRS) | es |