Robust Model Predictive Control for Nonlinear Systems With Incremental Control Input Constraints

• Published in: IEEE transactions on automation science and engineering Vol. 22; pp. 9983 - 9993
• Main Authors: Zhao, Fang-Jiao, Gao, Yong-Feng, Wang, Xue-Fang, Gu, Hao-Yuan, Sun, Xi-Ming
• Format: Journal Article
• Language: English
• Published: IEEE 01.01.2025
• Subjects: bounded disturbances; Complexity theory; Control systems; Discrete-time systems; incremental input constraint; Mobile robots; Model predictive control; Nonlinear systems; Optimization; Predictive control; robustness; Sun; Uncertainty; Vectors; wheeled mobile robots

This paper presents a robust model predictive control (RMPC) algorithm for nonlinear discrete-time systems subject to bounded disturbances and incremental control input constraints. To guarantee recursive feasibility, a terminal inequality constraint is integrated into the proposed RMPC algorithm. B...