Tube-based robust nonlinear model predictive control

This paper extends tube‐based model predictive control of linear systems to achieve robust control of nonlinear systems subject to additive disturbances. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in tube‐based...

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Bibliographic Details
Published inInternational journal of robust and nonlinear control Vol. 21; no. 11; pp. 1341 - 1353
Main Authors Mayne, D. Q., Kerrigan, E. C., van Wyk, E. J., Falugi, P.
Format Journal Article
LanguageEnglish
Published Chichester, UK John Wiley & Sons, Ltd 25.07.2011
Subjects
Control systems
discrete-time systems
Dynamical systems
Linear systems
Mathematical models
Nonlinear dynamics
nonlinear model predictive control
Nonlinearity
Robust control
robust model predictive control
Trajectories
tubes
uncertain systems
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Summary:This paper extends tube‐based model predictive control of linear systems to achieve robust control of nonlinear systems subject to additive disturbances. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in tube‐based robust control of linear systems, is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose center is the reference trajectory thereby enabling robust control of uncertain nonlinear systems to be achieved. Copyright © 2011 John Wiley & Sons, Ltd.
Bibliography:istex:DCFCE401EA30D7C4FC4321B27A836E024734B234
ark:/67375/WNG-MC43TPGP-D
ArticleID:RNC1758
ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1049-8923
1099-1239
1099-1239
DOI:10.1002/rnc.1758