Paper Info
Title
Robust Model Predictive Control For Constrained Continuous-Time Nonlinear Systems
Abstract
In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator.
Year
DOI
Venue
2018
10.1080/00207179.2017.1282177
INTERNATIONAL JOURNAL OF CONTROL
Keywords
Field
DocType
Model predictive control, robust control, constrained nonlinear systems, robust control, invariant set
Convergence (routing),Mathematical optimization,Nonlinear system,Linear system,Control theory,Model predictive control,Robustness (computer science),Robust control,Mathematics,Trajectory,Bounded function
Journal
Volume
Issue
ISSN
91
2
0020-7179
Citations 
PageRank 
References 
5
0.40
16
Authors
4
Name
Order
Citations
PageRank
Tairen Sun11359.17
Yongping Pan266037.53
Jun Zhang3102.82
Haoyong Yu462174.47