Abstract:
This paper presents a computationally attractive nonlinear model predictive control approach for the class of continuous time Lure systems. The control law is obtained vi...Show MoreMetadata
Abstract:
This paper presents a computationally attractive nonlinear model predictive control approach for the class of continuous time Lure systems. The control law is obtained via the repeated solution of an efficient to solve convex optimization problem based on linear matrix inequalities (LMIs). Closed-loop stability and satisfaction of input and state constraints are guaranteed by the feasibility of the LMIs at initial time. The simulation of a flexible link robotic arm shows the applicability and effectiveness of the proposed controller.
Published in: 2009 European Control Conference (ECC)
Date of Conference: 23-26 August 2009
Date Added to IEEE Xplore: 02 April 2015
Print ISBN:978-3-9524173-9-3