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Tube‐based robust nonlinear model predictive control
Author(s) -
Mayne D. Q.,
Kerrigan E. C.,
van Wyk E. J.,
Falugi P.
Publication year - 2011
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1758
Subject(s) - control theory (sociology) , model predictive control , nonlinear system , trajectory , controller (irrigation) , robust control , computer science , linear system , nonlinear model , linear model , control system , control engineering , control (management) , engineering , mathematics , artificial intelligence , physics , mathematical analysis , quantum mechanics , astronomy , agronomy , biology , electrical engineering , machine learning
This paper extends tube‐based model predictive control of linear systems to achieve robust control of nonlinear systems subject to additive disturbances. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in tube‐based robust control of linear systems, is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose center is the reference trajectory thereby enabling robust control of uncertain nonlinear systems to be achieved. Copyright © 2011 John Wiley & Sons, Ltd.