Robust Model Predictive Controller for Tracking Changing Periodic Signals
In this paper, we propose a novel robust model predictive controller for tracking periodic signals for linear systems subject to bounded additive uncertainties based on nominal predictions and constraint tightening. The proposed controller joins optimal periodic trajectory planning and robust contro...
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| Published in | IEEE transactions on automatic control Vol. 62; no. 10; pp. 5343 - 5350 |
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| Main Authors | , , , , |
| Format | Journal Article |
| Language | English |
| Published |
IEEE
01.10.2017
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0018-9286 1558-2523 |
| DOI | 10.1109/TAC.2016.2636751 |
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| Abstract | In this paper, we propose a novel robust model predictive controller for tracking periodic signals for linear systems subject to bounded additive uncertainties based on nominal predictions and constraint tightening. The proposed controller joins optimal periodic trajectory planning and robust control for tracking in a single optimization problem and guarantees that the perturbed closed-loop system converges asymptotically to a neighborhood of an optimal reachable periodic trajectory while robustly satisfying the constraints. In addition, the closed-loop system maintains recursive feasibility even in the presence of sudden changes in the target reference. |
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| AbstractList | In this paper, we propose a novel robust model predictive controller for tracking periodic signals for linear systems subject to bounded additive uncertainties based on nominal predictions and constraint tightening. The proposed controller joins optimal periodic trajectory planning and robust control for tracking in a single optimization problem and guarantees that the perturbed closed-loop system converges asymptotically to a neighborhood of an optimal reachable periodic trajectory while robustly satisfying the constraints. In addition, the closed-loop system maintains recursive feasibility even in the presence of sudden changes in the target reference. |
| Author | Alamo, T. Munoz de la Pena, D. Limon, D. Pereira, M. Alvarado, I. |
| Author_xml | – sequence: 1 givenname: M. surname: Pereira fullname: Pereira, M. email: mpereiram@us.es organization: Dept. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain – sequence: 2 givenname: D. surname: Munoz de la Pena fullname: Munoz de la Pena, D. email: dmunoz@us.es organization: Dept. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain – sequence: 3 givenname: D. surname: Limon fullname: Limon, D. email: dlm@us.es organization: Dept. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain – sequence: 4 givenname: I. surname: Alvarado fullname: Alvarado, I. email: alvarado@us.es organization: Dept. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain – sequence: 5 givenname: T. surname: Alamo fullname: Alamo, T. email: talamo@us.es organization: Dept. de Ing. de Sist. y Autom., Univ. de Sevilla, Sevilla, Spain |
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| Cites_doi | 10.1109/TIE.2015.2404815 10.1109/TAC.2011.2179349 10.1016/j.automatica.2014.10.128 10.1016/j.automatica.2004.08.019 10.1016/j.neucom.2010.03.023 10.1016/j.automatica.2015.06.034 10.1016/j.automatica.2010.10.021 10.1016/j.jprocont.2014.03.013 10.1016/S0959-1524(00)00047-0 10.1007/978-1-4471-5058-9 10.1016/j.jprocont.2011.01.012 10.1049/ic.2010.0258 10.1016/j.ifacol.2015.11.295 10.1016/j.automatica.2010.05.023 10.1016/j.isatra.2013.11.011 |
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| References | ref13 ref12 ref14 gondhalekar (ref2) 2011; 2 ref11 limon (ref16) 2009 ref1 ref17 limon (ref6) 2014 ref8 ref7 wang (ref18) 2014; 53 ref9 ref4 limon (ref10) 2015; pp ref3 mayne (ref15) 2005; 41 ref5 |
| References_xml | – ident: ref12 doi: 10.1109/TIE.2015.2404815 – ident: ref4 doi: 10.1109/TAC.2011.2179349 – year: 2014 ident: ref6 article-title: Tracking model predictive control publication-title: Encyclopedia of Systems and Control – ident: ref7 doi: 10.1016/j.automatica.2014.10.128 – volume: 41 start-page: 219 year: 2005 ident: ref15 article-title: Robust model predictive control of constrained linear systems with bounded disturbances publication-title: Automatica doi: 10.1016/j.automatica.2004.08.019 – ident: ref17 doi: 10.1016/j.neucom.2010.03.023 – ident: ref13 doi: 10.1016/j.automatica.2015.06.034 – volume: 2 start-page: 326 year: 2011 ident: ref2 article-title: MPC of constrained discrete-time linear periodic systems: A framework for asynchronous control: Strong feasibility, stability and optimality via periodic invariance publication-title: Automatica doi: 10.1016/j.automatica.2010.10.021 – ident: ref11 doi: 10.1016/j.jprocont.2014.03.013 – ident: ref1 doi: 10.1016/S0959-1524(00)00047-0 – ident: ref9 doi: 10.1007/978-1-4471-5058-9 – ident: ref3 doi: 10.1016/j.jprocont.2011.01.012 – ident: ref14 doi: 10.1049/ic.2010.0258 – start-page: 1 year: 2009 ident: ref16 article-title: Input-to-state stability: A unifying framework for robust model predictive control publication-title: International Workshop on Assessment and Future Direction of Nonlinear Model Predictive Control – volume: pp year: 2015 ident: ref10 article-title: MPC for tracking periodic references publication-title: IEEE Transactions on Automatic Control – ident: ref8 doi: 10.1016/j.ifacol.2015.11.295 – ident: ref5 doi: 10.1016/j.automatica.2010.05.023 – volume: 53 start-page: 671 year: 2014 ident: ref18 article-title: A novel disturbance-observer based friction compensation scheme for ball and plate system publication-title: ISA Transactions doi: 10.1016/j.isatra.2013.11.011 |
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| SubjectTerms | Closed loop systems Linear systems Optimization Predictive control for linear systems robust control Robustness stability of linear systems Target tracking Trajectory uncertain systems Uncertainty |
| Title | Robust Model Predictive Controller for Tracking Changing Periodic Signals |
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