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Design of an RMPC with a time‐varying terminal constraint set for tracking problem
Author(s) -
Razi Maryam,
Haeri Mohammad
Publication year - 2016
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.3464
Subject(s) - model predictive control , terminal (telecommunication) , constraint (computer aided design) , control theory (sociology) , lipschitz continuity , nonlinear system , robust control , robustness (evolution) , mathematical optimization , set (abstract data type) , computer science , tracking error , controller (irrigation) , stability (learning theory) , mathematics , control (management) , artificial intelligence , telecommunications , mathematical analysis , biochemistry , chemistry , physics , geometry , quantum mechanics , biology , agronomy , gene , programming language , machine learning
Summary This paper presents a robust model predictive control algorithm with a time‐varying terminal constraint set for systems with model uncertainty and input constraints. In this algorithm, the nonlinear system is approximated by a linear model where the approximation error is considered as an unstructured uncertainty that can be represented by a Lipschitz nonlinear function. A continuum of terminal constraint sets is constructed off‐line, and robust stability is achieved on‐line by using a variable control horizon. This approach significantly reduces the computational complexity. The proposed robust model predictive controller with a terminal constraint set is used in tracking set‐points for nonlinear systems. The effectiveness of the proposed method is illustrated with a numerical example. Copyright © 2015 John Wiley & Sons, Ltd.