TR2016-108

Robust Soft-Landing Control with Quantized Input


    •  Danielson, C., Di Cairano, S., "Robust Soft-Landing Control with Quantized Input", Symposium on Nonlinear Control Systems, DOI: 10.1016/​j.ifacol.2016.10.136, Vol. 49, No. 18, pp. 35-40, August 2016.
      BibTeX TR2016-108 PDF
      • @article{Danielson2016aug,
      • author = {Danielson, Claus and Di Cairano, Stefano},
      • title = {Robust Soft-Landing Control with Quantized Input},
      • journal = {Symposium on Nonlinear Control Systems},
      • year = 2016,
      • volume = 49,
      • number = 18,
      • pages = {35--40},
      • month = aug,
      • publisher = {Elsevier},
      • doi = {10.1016/j.ifacol.2016.10.136},
      • url = {https://www.merl.com/publications/TR2016-108}
      • }
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  • Research Area:

    Control

Abstract:

We propose a controller architecture for soft-landing control with quantized input. The objective of the soft-landing problem is to achieve precise positioning of a moving object at a target position, while ensuring the velocity decreases as the target is approached. In this paper, we formulate the soft-landing problem as a constrained control problem. Our approach combines traditional convex model predictive control with a rounding rule that quantizes the input. The rounding rule is designed to minimize the error between the requested and quantized inputs. A robust control invariant set is used to ensure that the rounding errors do not lead to constraint violations. We demonstrate our approach for a transportation system case study.