Design of an RMPC with a time-varying terminal constraint set for tracking problem

Razi, M ; Sharif University of Technology | 2016

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  1. Type of Document: Article
  2. DOI: 10.1002/rnc.3464
  3. Publisher: John Wiley and Sons Ltd , 2016
  4. Abstract:
  5. This paper presents a robust model predictive control algorithm with a time-varying terminal constraint set for systems with model uncertainty and input constraints. In this algorithm, the nonlinear system is approximated by a linear model where the approximation error is considered as an unstructured uncertainty that can be represented by a Lipschitz nonlinear function. A continuum of terminal constraint sets is constructed off-line, and robust stability is achieved on-line by using a variable control horizon. This approach significantly reduces the computational complexity. The proposed robust model predictive controller with a terminal constraint set is used in tracking set-points for nonlinear systems. The effectiveness of the proposed method is illustrated with a numerical example. Copyright © 2015 John Wiley & Sons, Ltd. Copyright © 2015 John Wiley & Sons, Ltd
  6. Keywords:
  7. Computational complexity ; Linear matrix inequality ; Terminal constraint set ; Tracking ; Algorithms ; Approximation algorithms ; Discrete cosine transforms ; Linear matrix inequalities ; Nonlinear systems ; Numerical methods ; Optimization ; Predictive control systems ; Robust control ; Robustness (control systems) ; Surface discharges ; Uncertainty analysis ; Approximation errors ; Model uncertainties ; Nonlinear functions ; Robust model predictive control ; Terminal constraint ; Terminal constraint sets ; Time-varying terminal constraint set ; Unstructured uncertainty ; Model predictive control
  8. Source: International Journal of Robust and Nonlinear Control ; Volume 26, Issue 12 , 2016 , Pages 2623-2642 ; 10498923 (ISSN)
  9. URL: http://onlinelibrary.wiley.com/doi/10.1002/rnc.3464/abstract