Robust model predictive control for constrained continuous-time nonlinear systems |
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Authors: | Tairen Sun Yongping Pan Haoyong Yu |
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Affiliation: | 1. Department of Electrical and Information Engineering, Jiangsu University, Zhenjiang, China;2. Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore |
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Abstract: | In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator. |
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Keywords: | Model predictive control robust control constrained nonlinear systems robust control invariant set |
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