Conference item
Adaptive robust predictive control with sample-based persistent excitation
- Abstract:
- We propose a robust adaptive Model Predictive Control strategy with online set-based estimation for constrained linear systems with unknown parameters and bounded disturbances. A sample-based test applied to predicted trajectories is used to ensure convergence of parameter estimates by enforcing a persistence of excitation condition on the closed loop system. The control law robustly satisfies constraints and has guarantees of feasibility and input-to-state stability. Convergence of parameter set estimates to the actual system parameter vector is guaranteed under conditions on reachability and tightness of disturbance bounds.
- Publication status:
- Published
- Peer review status:
- Peer reviewed
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- Files:
-
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(Preview, Version of record, pdf, 1.3MB, Terms of use)
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- Publisher copy:
- 10.1016/j.ifacol.2023.10.1131
Authors
- Publisher:
- Elsevier
- Journal:
- IFAC-PapersOnLine More from this journal
- Volume:
- 56
- Issue:
- 2
- Pages:
- 8451-8456
- Publication date:
- 2023-11-22
- Acceptance date:
- 2022-06-12
- Event title:
- 22nd IFAC World Congress
- Event location:
- Yokohama, Japan
- Event website:
- https://www.ifac2023.org/
- Event start date:
- 2023-07-09
- Event end date:
- 2023-07-14
- DOI:
- EISSN:
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2405-8963
- Language:
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English
- Keywords:
- Pubs id:
-
1595528
- Local pid:
-
pubs:1595528
- Deposit date:
-
2024-01-06
Terms of use
- Copyright holder:
- Lu and Cannon
- Copyright date:
- 2023
- Rights statement:
- © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/).
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