Computing Ellipsoidal Robust Forward Invariant Tubes for Nonlinear MPC

doi:10.1016/j.ifacol.2017.08.599

	Computing Ellipsoidal Robust Forward Invariant Tubes for Nonlinear MPC
	Villanueva, Mario E.1; Li, Jiaqi C.2 ; Feng, Xuhui2 ; Chachuat, Benoit 3; Houska, Boris2
	2017
会议录名称	IFAC PAPERSONLINE
卷号	50
期号	1
页码	7175-7180
发表状态	已发表
DOI	10.1016/j.ifacol.2017.08.599
摘要	Min-max differential inequalities (DIs) can be used to characterize robust forward invariant tubes with convex cross-section for a large class of nonlinear control systems. The advantage of using set-propagation over other existing approaches for tubeMPC is that they avoid the discretization of control policies. Instead, the conservatism of min-max DIs in tube MPC arises from the discretization of sets in the state-space, while the control law is never discretized and remains defined implicitly via the solution of a min-max optimization problem. The contribution of this paper is the development of a practical implementation of min-max DIs for tube MPC using ellipsoidal-tube enclosures. We illustrate these developments with a spring-mass-damper system. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
关键词	robust control model predictive control differential inequalities
出版地	PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS
收录类别	CPCI ; EI
语种	英语
资助项目	ShanghaiTech University[F-0203-14-012]
WOS记录号	WOS:000423964900191
出版者	ELSEVIER SCIENCE BV
WOS关键词	MODEL-PREDICTIVE CONTROL ; INEQUALITIES ; SYSTEMS ; SET
原始文献类型	Proceedings Paper
引用统计	正在获取...
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/18221
专题	信息科学与技术学院信息科学与技术学院_PI研究组_Boris Houska组信息科学与技术学院_硕士生信息科学与技术学院_博士生
通讯作者	Villanueva, Mario E.
作者单位	1.Texas A&M Univ, Artie McFerrin Dept Chem Engn, College Stn, TX 77843 USA 2.ShanghaiTech Univ, Sch Informat Sci & Technol, 319 Yueyang Rd, Shanghai 200031, Peoples R China 3.Imperial Coll London, Ctr Proc Syst Engn, Dept Chem Engn, London SW7 2AZ, England
推荐引用方式 GB/T 7714	Villanueva, Mario E.,Li, Jiaqi C.,Feng, Xuhui,et al. Computing Ellipsoidal Robust Forward Invariant Tubes for Nonlinear MPC[C]. PO BOX 211, 1000 AE AMSTERDAM, NETHERLANDS:ELSEVIER SCIENCE BV,2017:7175-7180.