Name
Abstract | ||
|---|---|---|
A reactive safety mode is built into a robust model predictive control algorithm for uncertain nonlinear systems with bounded disturbances. The algorithm enforces state and control constraints and blends two modes: (I) standard, guarantees re-solvability and asymptotic convergence in a robust receding-horizon manner; (II) safety, if activated, guarantees containment within an invariant set about a reference. The reactive safety mode provides robustness to unexpected, but real-time anticipated, state-constraint changes during standard mode operation. The safety-mode control policy is designed offline and can be activated at any arbitrary time. The standard-mode control has feedforward and feedback components: feedforward is from online solution of a finite-horizon optimal control problem; feedback is designed offline to provide robustness to system uncertainty and disturbances and to establish an invariant “state tube” that guarantees standard-mode re-solvability at any time. The algorithm design is shown for a class of systems with incrementally-conic uncertain/nonlinear terms and bounded disturbances. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1016/j.automatica.2013.02.025 | Automatica |
Keywords | Field | DocType |
Model predictive control,Receding horizon control,Safety mode,Linear matrix inequalities,Robust nonlinear control | Mathematical optimization,Optimal control,Algorithm design,Control theory,Model predictive control,Algorithm,Robustness (computer science),Adaptive control,Robust control,Mathematics,Bounded function,Feed forward | Journal |
Volume | Issue | ISSN |
49 | 5 | 0005-1098 |
Citations | PageRank | References |
10 | 1.05 | 12 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| John M. Carson III | 1 | 21 | 2.06 |
| Ahmet Behçet Açikmese | 2 | 83 | 6.79 |
| Richard M. Murray | 3 | 12322 | 1223.70 |
| Douglas G. MacMartin | 4 | 10 | 1.39 |