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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 during the optimization at each sampling instant and along closed loop system trajectories. This paper proposes bounds based on robust tubes constru...

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Authors


Buerger, J More by this author
More by this author
Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Raković, S More by this author
Journal:
IFAC Proceedings Volumes (IFAC-PapersOnline)
Pages:
208-213
Publication date:
2010
DOI:
ISSN:
1474-6670
URN:
uuid:b12fc4de-61bc-4e75-bba4-ec853762d6c3
Source identifiers:
396864
Local pid:
pubs:396864
Language:
English
Keywords:

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