Rigid Tube Model Predictive Control for Linear Sampled-data Systems

被引：7
|
作者：
Fontes, F. A. C. C. [1 ]
Rakovic, S. V. [1 ]
Kolmanovsky, I. V. [2 ]
机构：
[1] Univ Porto, Systec ISR, P-4200465 Oporto, Portugal
[2] Univ Michigan, Ann Arbor, MI 48109 USA
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Tube Model Predictive Control; Sampled data Systems; Constrained systems; Bounded Disturbances; Robust Invariance; Robust Stability; RECEDING HORIZON CONTROL; NONLINEAR-SYSTEMS; STABILITY; FEEDBACK;
D O I：
10.1016/j.ifacol.2017.08.903
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We consider the problem of robust model predictive control for linear sampled data dynamical systems subject to state and control constraints and additive and bounded disturbances. We propose a rigid tube model predictive control algorithm utilizing recent and topologically compatible notions for the sampled data forward reach sets as well as robust positively invariant sets. The proposed method inherits almost all desirable features associated with rigid tube model predictive control of discrete-time systems, and, in addition, it ensures robust constraint satisfaction and safety in a continuous-time sense. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：9840 / 9845
页数：6
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