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Hernandez Vicente, B. orcid.org/0000-0003-0701-5590 and Trodden, P. orcid.org/0000-0002-8787-7432 (2016) Persistently Exciting Tube MPC. In: American Control Conference (ACC), 2016. American Control Conference (ACC), 2016, 06-08 Jul 2016, Boston MA. IEEE
Abstract
This paper presents a new approach to deal with the dual problem of system identification and regulation. The main feature consists of breaking the control input to the system into a regulator part and a persistently exciting part. The former is used to regulate the plant using a robust MPC formulation, in which the latter is treated as a bounded additive disturbance. The identification process is executed by a simple recursive least squares algorithm. In order to guarantee sufficient excitation for the identification, an additional non-convex constraint is enforced over the persistently exciting part.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2016 AACC. This is an author produced version of a paper subsequently published in American Control Conference (ACC), 2016. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 01 Dec 2017 09:54 |
Last Modified: | 01 Dec 2017 09:54 |
Published Version: | https://doi.org/10.1109/ACC.2016.7525037 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ACC.2016.7525037 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:100364 |
Available Versions of this Item
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Persistently Exciting Tube MPC. (deposited 13 Oct 2015 14:11)
- Persistently Exciting Tube MPC. (deposited 01 Dec 2017 09:54) [Currently Displayed]