4 papers
A Sum-of-Squares-Based Procedure to Approximate the Pontryagin Difference of Semialgebraic Sets
Andres Cotorruelo, Ilya Kolmanovsky, Emanuele Garone
The P-difference between two sets and is the set of all points, , such that the addition of to any of the points in $\mathcal…
Nonlinear MPC for Tracking for a Class of Non-Convex Admissible Output Sets
Andres Cotorruelo, Daniel R. Ramirez, Daniel Limon +1
This paper presents an extension to the nonlinear Model Predictive Control for Tracking scheme able to guarantee convergence even in cases of non-convex output admissible sets. Thi…
Reference Dependent Invariant Sets: Sum of Squares Based Computation and Applications in Constrained Control
Andres Cotorruelo, Mehdi Hosseinzadeh, Daniel R. Ramirez +2
The goal of this paper is to present a systematic method to compute reference dependent positively invariant sets for systems subject to constraints. To this end, we first characte…
Elimination of Redundant Polynomial Constraints and Its Use in Constrained Control
Andres Cotorruelo, Ilya Kolmanovsky, Daniel R. Ramírez +2
The reduction of constraints to obtain minimal representations of sets is a very common problem in many engineering applications. While well-established methodologies exist for the…