Robust MPC via min-max differential inequalities

doi:10.1016/j.automatica.2016.11.022

	Robust MPC via min-max differential inequalities
	Villanueva, Mario E.1; Quirynen, Rien 2,3,4; Diehl, Moritz 2,3; Chachuat, Benoit 1; Houska, Boris5
	2017-03
发表期刊	AUTOMATICA (IF:4.8[JCR-2023],6.0[5-Year])
ISSN	0005-1098
卷号	77 页码:311-321
发表状态	已发表
DOI	10.1016/j.automatica.2016.11.022
摘要	This paper is concerned with tube-based model predictive control (MPC) for both linear and nonlinear, input-affine continuous-time dynamic systems that are affected by time-varying disturbances. We derive a min max differential inequality describing the support function of positive robust forward invariant tubes, which can be used to construct a variety of tube-based model predictive controllers. These constructions are conservative, but computationally tractable and their complexity scales linearly with the length of the prediction horizon. In contrast to many existing tube-based MPC implementations, the proposed framework does not involve discretizing the control policy and, therefore, the conservatism of the predicted tube depends solely on the accuracy of the set parameterization. The proposed approach is then used to construct a robust MPC scheme based on tubes with ellipsoidal cross-sections. This ellipsoidal MPC scheme is based on solving an optimal control problem under linear matrix inequality constraints. We illustrate these results with the numerical case study of a spring mass damper system. (C) 2016 The Authors. Published by Elsevier Ltd.
关键词	Model predictive control Robust control Tube-based control Robust forward invariant tube Differential inequalities
收录类别	SCI ; EI
语种	英语
资助项目	Engineering and Physical Sciences Research Council[EP/J006572/1]
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000395354700033
出版者	PERGAMON-ELSEVIER SCIENCE LTD
EI入藏号	20170303259912
EI主题词	Constraint theory ; Continuous time systems ; Feedback control ; Linear matrix inequalities ; Model predictive control ; Optimal control systems ; Robust control ; Tubes (components)
EI分类号	Pipe, Piping and Pipelines:619.1 ; Automatic Control Principles and Applications:731 ; Control Systems:731.1 ; Algebra:921.1 ; Systems Science:961
WOS关键词	MODEL-PREDICTIVE CONTROL ; NONLINEAR-SYSTEMS ; INVARIANT SET ; OPTIMIZATION ; TUBES
原始文献类型	Article
引用统计	正在获取...
文献类型	期刊论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/1485
专题	信息科学与技术学院_PI研究组_Boris Houska组
通讯作者	Villanueva, Mario E.
作者单位	1.Imperial Coll London, Dept Chem Engn, Ctr Proc Syst Engn, South Kensington Campus, London SW7 2AZ, England 2.Univ Freiburg, Dept Microsyst Engn IMTEK, Georges Koehler Allee 102, D-79110 Freiburg, Germany 3.Univ Freiburg, Dept Math, Georges Koehler Allee 102, D-79110 Freiburg, Germany 4.Katholieke Univ Leuven, Elect Engn Dept, Kasteelpk Arenberg 10, B-3001 Leuven, Belgium 5.ShanghaiTech Univ, Sch Informat Sci & Technol, 319 Yueyang Rd, Shanghai 200031, Peoples R China
推荐引用方式 GB/T 7714	Villanueva, Mario E.,Quirynen, Rien,Diehl, Moritz,et al. Robust MPC via min-max differential inequalities[J]. AUTOMATICA,2017,77:311-321.
APA	Villanueva, Mario E.,Quirynen, Rien,Diehl, Moritz,Chachuat, Benoit,&Houska, Boris.(2017).Robust MPC via min-max differential inequalities.AUTOMATICA,77,311-321.
MLA	Villanueva, Mario E.,et al."Robust MPC via min-max differential inequalities".AUTOMATICA 77(2017):311-321.