Tube-based robust model predictive control for constrained continuous-time nonlinear systems

被引：0

作者：

Wang, Liang ^{[1
]}

Zhang, Xiaoyan ^{[1
]}

Shu, Yuexia ^{[1
]}

机构：

[1] Jiangsu Univ, Dept Elect & Informat Engn, Zhenjiang 212013, Peoples R China

来源：

PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年

关键词：

Model predictive control; Robust control; nonlinear system; STABILITY; DISTURBANCES; SCHEME;

D O I：

暂无

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 addresses tube-based robust model predictive control (RMPC) for constrained continuous-time nonlinear systems with additive uncertainties. The RMPC is designed based on a linear feedback term and a model predictive control (MPC) for a continuous-time nonlinear system. Firstly, a robust control invariant set is explicitly given for the error system between the nonlinear system and its nominal system. Then, the tube-based MPC is designed for the considered continuous-time nonlinear system. Furthermore, the feasibility of the RMPC and robust stability of the closed-loop control system are analyzed. Finally, the applications of the RMPC to a cart-damper-springer system verifies the theoretical results.

引用

页码：554 / 559

页数：6

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