access icon free Input-to-state stability of contractive EMPC of non-linear systems with bounded disturbances

In this work, the authors consider the robust control problem of model predictive control (MPC) for economic criterion optimisation of constrained uncertain non-linear systems with unknown but bounded additive disturbances. The authors propose a robust economic MPC (EMPC) scheme with guaranteed input-to-state stability (ISS) to solve the robust control problem. By imposing a modified Lyapunov-based contractive constraint, the optimal control problem of the EMPC is formulated based on the nominal state prediction of the uncertain system. Then some sufficient conditions of Lipschitz continuity and terminal elements are derived to guarantee recursive feasibility and ISS of the EMPC with respect to the disturbance by the arguments of robust invariant sets and ISS. Two examples consisting of a chemical reaction process and a vehicle system are used to demonstrate the effectiveness of the proposed scheme.

Inspec keywords: control system synthesis; economics; optimisation; uncertain systems; predictive control; nonlinear control systems; Lyapunov methods; robust control; optimal control

Other keywords: contractive EMPC; chemical reaction process; economic criterion optimisation; Lipschitz continuity; model predictive control; vehicle system; optimal control problem; robust invariant sets; robust economic MPC scheme; nominal state prediction; bounded additive disturbances; Lyapunov-based contractive constraint; ISS; constrained uncertain nonlinear systems; input-to-state stability; robust control problem

Subjects: Nonlinear control systems; Optimal control; Optimisation techniques; Stability in control theory; Control system analysis and synthesis methods

http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2018.5708
Loading

Related content

content/journals/10.1049/iet-cta.2018.5708
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading