Linear Time-Varying Robust Model Predictive Control for Discrete-Time Nonlinear Systems | IEEE Conference Publication | IEEE Xplore

Linear Time-Varying Robust Model Predictive Control for Discrete-Time Nonlinear Systems


Abstract:

This paper presents a robust model predictive controller for discrete-time nonlinear systems, subject to state and input constraints and unknown but bounded input disturb...Show More

Abstract:

This paper presents a robust model predictive controller for discrete-time nonlinear systems, subject to state and input constraints and unknown but bounded input disturbances. The prediction model uses a linearized time-varying version of the original discrete-time system. The proposed optimization problem includes the initial state of the current nominal model of the system as an optimization variable, which allows to guarantee robust exponential stability of a disturbance invariant set for the discrete-time nonlinear system. From simulations, it is possible to verify the proposed algorithm is real-time capable, since the problem is convex and posed as a quadratic program.
Date of Conference: 17-19 December 2018
Date Added to IEEE Xplore: 20 January 2019
ISBN Information:

ISSN Information:

Conference Location: Miami, FL, USA

References

References is not available for this document.