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Robust Tubes in Nonlinear Model Predictive Control

Abstract:

Nonlinear model predictive control (NMPC) strategies based on linearization about predicted system trajectories enable the online NMPC optimization to be performed by a sequence of convex optimization problems. The approach relies on bounds on linearization errors in order to ensure constraint satisfaction and convergence of the performance index, both during the optimization at each sampling instant and along closed loop system trajectories. This technical note proposes bounds based on robus...

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Publication status:
Published

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Publisher copy:
10.1109/TAC.2011.2135190

Authors


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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Journal:
IEEE TRANSACTIONS ON AUTOMATIC CONTROL More from this journal
Volume:
56
Issue:
8
Pages:
1942-1947
Publication date:
2011-08-01
DOI:
ISSN:
0018-9286
Language:
English
Keywords:
Pubs id:
pubs:172208
UUID:
uuid:24f88671-cad1-44a0-b790-287e24ff2a75
Local pid:
pubs:172208
Source identifiers:
172208
Deposit date:
2012-12-19

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