Robust model predictive control: Advantages and disadvantages of tube-based methods

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 44, Issue 1 PART 1, 2011, Pages 191-196

  Mayne, David Q ^a   Kerrigan, Eric C ^a   Falugi, Paola ^a  

^a IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

Discrete time systems; Nonlinear model predictive control; Robust model predictive control; Tubes; Uncertain systems

Indexed keywords

CONTROLLERS; DIGITAL CONTROL SYSTEMS; DISCRETE TIME CONTROL SYSTEMS; FEEDBACK; LINEAR SYSTEMS; NONLINEAR SYSTEMS; OPTIMAL CONTROL SYSTEMS; PREDICTIVE CONTROL SYSTEMS; ROBUST CONTROL; TUBES (COMPONENTS); TUBING; UNCERTAIN SYSTEMS;

CONSTRAINED LINEAR SYSTEMS; CONSTRAINED NONLINEAR SYSTEMS; DISCRETE - TIME SYSTEMS; NONLINEAR MODEL PREDICTIVE CONTROL; OPEN LOOP OPTIMAL CONTROL; OPTIMAL CONTROL PROBLEM; ROBUST MODEL PREDICTIVE CONTROL; UNSTRUCTURED UNCERTAINTY;

MODEL PREDICTIVE CONTROL;

EID: 84866757817     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20110828-6-IT-1002.01893     Document Type: Conference Paper

References (15)

1. Kellet, C.M. and Teel, A.R. (2004). Smooth Lyapunov functions and robustness of stability for difference inclusions. Systems and Control Letters, 52, 395-405.
2. Kolmanovsky, I. and Gilbert, E.C. (1998). Theory and computation of disturbance invariant sets for discretetime linear systems. Mathematical Problems in Engineering, 4, 317-367.
3. Limon, D., Bravo, J.M., Alamo, T., and Camacho, E.F. (2005). Robust MPC of constrained nonlinear systems based on interval arithmetic. IEE Proceedings on Control Theory and Applications, 152(3), 335-332.
4. Løvaas, C., Serón, M., and Goodwin, G.C. (2008). Robust output feedback model predictive control for systems with unstructured uncertainty. Automatica, 44(8), 1933-1943.
5. Magni, L., De Nicolao, G., Scattolini, R., and Allgöwer, F. (2003). Robust model predictive control for nonlinear discrete-time systems. International Journal of Robust and Nonlinear Control, 13, 229-246.
6. Marruedo, D.L., Álamo, T., and Camacho, E.F. (2002). Stability analysis of systems with bounded additive uncertainties based on invariant sets: stability and feasibilityof MPC. In Proceedings American Control Conference, 364-369. Anchorage, Alaska.
7. Mayne, D.Q. and Kerrigan, E.C. (2007). Tube-based nonlinear model predictive control. In Proceedings of the 7th IFAC Symposium on Nonlinear Control Systems, 110-115. Pretoria, South Africa.
8. Mayne, D.Q., Raković, S.V., Findeisen, R., and Allgöwer, F. (2006). Robust output feedback model predictive control of constrained linear systems. Automatica, 42(7), 1217-1222.
9. Mayne, D.Q., Rawlings, J.B., Rao, C.V., and Scokaert, P.O.M. (2000). Constrained model predictive control: stability and optimality. Automatica, 36, 789-814.
10. Mayne, D.Q., Seron, M.M., and Raković, S.V. (2005). Robust model predictive control of constrained linear systems with bounded disturbances. Automatica, 41(2), 219-224.
11. Michalska, H. and Mayne, D.Q. (1993). Robust receding horizon control of constrained nonlinear systems. IEEE Transactions on Automatic Control, 38, 1623-1632.
12. Raković, S.V., Kerrigan, E., Kouramas, K., and Mayne, D.Q. (2005). Invariant approximations of the minimal robustly positively invariant sets. IEEE Transactions on Automatic Control, 50(3), 406-410.
13. Rawlings, J.B. and Mayne, D.Q. (2009). Model Predictive Control: Theory and Design. Nob Hill, Madison, Wisconsin.
14. Scokaert, P.O.M., Rawlings, J.B., and Meadows, E.S. (1997). Discrete-time stability with perturbations: applications to model predictive control. Automatica, 33(3), 463-470.
15. Stewart, B.T., Wright, S.J., and Rawlings, J.B. (2010). Cooperative distributed model predictive control for nonlinear systems. Journal of Process Control. Submitted for publication.