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Difference of convex functions in robust tube nonlinear MPC

Abstract:

We propose a robust tube-based Model Predictive Control (MPC) paradigm for nonlinear systems whose dynamics can be expressed as a difference of convex functions. The approach exploits the convexity properties of the system model to derive convex conditions that govern the evolution of robust tubes bounding predicted trajectories. These tubes allow an upper bound on a performance cost to be minimised subject to state and control constraints as a convex program, the solution of which can be use...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/CDC51059.2022.9993390

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
More by this author
Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Oxford college:
St John's College
Role:
Author
ORCID:
0000-0003-2189-7876
Publisher:
IEEE
Host title:
2022 IEEE 61st Conference on Decision and Control (CDC)
Pages:
3044-3050
Publication date:
2023-01-10
Acceptance date:
2022-08-25
Event title:
61st IEEE Conference on Decision and Control
Event location:
Cancún, Mexico
Event website:
https://cdc2022.ieeecss.org/
Event start date:
2022-12-06
Event end date:
2022-12-09
DOI:
EISSN:
2576-2370
ISSN:
0743-1546
EISBN:
9781665467612
ISBN:
9781665467629
Language:
English
Keywords:
Pubs id:
1276605
Local pid:
pubs:1276605
Deposit date:
2022-09-01

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