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access icon free Constructive robust model predictive control for constrained non-linear systems with disturbances

  • Author(s): De-feng He 1 ; Hai-bo Ji 2 ; Li Yu 1
    • View affiliations
    • Affiliations: 1: College of Information Engineering, Zhejiang University of Technology, Hangzhou, Zhejiang 310023, People's Republic of China;
      2: Department of Automation, University of Science and Technology of China, Hefei, Anhui 230027, People's Republic of China
  • Source: Volume 7, Issue 15, 17 October 2013, p. 1869 – 1876
    DOI:  10.1049/iet-cta.2012.0841 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received 20/10/2012, Accepted 08/07/2013, Revised 30/06/2013, Published

This study presents a new robust model predictive control (MPC) scheme for constrained continuous-time non-linear systems subject to unknown but bounded disturbances. The performance index is a function on disturbance-free state and input profiles, and the predictions are parameterised by an analytic controller with a small number of adjustable parameters. In particular, input-to-state stable control Lyapunov functions techniques are used to construct a variation of Freeman's formula with some tunable parameters, which yields an MPC with guaranteed input-to-state stability in some estimated invariant sets w.r.t the disturbance. It is further derived that the MPC here is inverse optimal for a class of dynamic game problems and has a sector margin (0.5, ∞). Finally, two numerical examples are used to illustrate the performance and effectiveness of the results obtained here.

Inspec keywords: numerical analysis; Lyapunov methods; robust control; optimal control; performance index; predictive control; game theory; nonlinear control systems; continuous time systems

Other keywords: constrained continuous-time nonlinear systems; sector margin; Freeman formula; dynamic game problems; performance index; disturbance-free state; inverse optimal control; invariant sets; analytic controller; Lyapunov functions techniques; constructive robust model predictive control; MPC scheme; adjustable parameters; guaranteed input-to-state stability

Subjects: Other numerical methods; Optimal control; Nonlinear control systems; Game theory; Stability in control theory

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