Tube-based robust nonlinear model predictive control

被引：305

作者：

Mayne, D. Q. ^{[1
]}

Kerrigan, E. C. ^{[1
,2
]}

van Wyk, E. J. ^{[1
]}

Falugi, P. ^{[1
]}

机构：

[1] Imperial Coll London, Dept Elect & Elect Engn, London, England

[2] Imperial Coll London, Dept Aeronaut, London, England

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2011年 / 21卷 / 11期

基金：

英国工程与自然科学研究理事会;

关键词：

robust model predictive control; nonlinear model predictive control; discrete-time systems; tubes; uncertain systems; SYSTEMS;

D O I：

10.1002/rnc.1758

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper extends tube-based model predictive control of linear systems to achieve robust control of nonlinear systems subject to additive disturbances. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in tube-based robust control of linear systems, is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose center is the reference trajectory thereby enabling robust control of uncertain nonlinear systems to be achieved. Copyright (C) 2011 John Wiley & Sons, Ltd.

引用

页码：1341 / 1353

页数：13

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