A robust model predictive control algorithm augmented with a reactive safety mode

被引：29

作者：

Carson, John M., III ^{[1
]}

Acikmese, Behcet ^{[2
]}

Murray, Richard M. ^{[3
]}

MacMartin, Douglas G. ^{[3
]}

机构：

[1] CALTECH, Jet Prop Lab, Pasadena, CA 91109 USA

[2] Univ Texas Austin, Austin, TX 78712 USA

[3] CALTECH, Pasadena, CA 91125 USA

来源：

AUTOMATICA | 2013年 / 49卷 / 05期

基金：

美国国家航空航天局;

关键词：

Model predictive control; Receding horizon control; Safety mode; Linear matrix inequalities; Robust nonlinear control; STABILITY;

D O I：

10.1016/j.automatica.2013.02.025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A reactive safety mode is built into a robust model predictive control algorithm for uncertain nonlinear systems with bounded disturbances. The algorithm enforces state and control constraints and blends two modes: (I) standard, guarantees re-solvability and asymptotic convergence in a robust receding-horizon manner; (II) safety, if activated, guarantees containment within an invariant set about a reference. The reactive safety mode provides robustness to unexpected, but real-time anticipated, state-constraint changes during standard mode operation. The safety-mode control policy is designed offline and can be activated at any arbitrary time. The standard-mode control has feedforward and feedback components: feedforward is from online solution of a finite-horizon optimal control problem; feedback is designed offline to provide robustness to system uncertainty and disturbances and to establish an invariant "state tube" that guarantees standard-mode re-solvability at any time. The algorithm design is shown for a class of systems with incrementally-conic uncertain/nonlinear terms and bounded disturbances. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：1251 / 1260

页数：10

共 28 条

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