Computation, approximation and stability of explicit feedback min-max nonlinear model predictive control

被引：28

作者：

Grancharova, Alexandra ^{[1
]}

Johansen, Tor A. ^{[2
]}

机构：

[1] Bulgarian Acad Sci, Inst Control & Syst Res, BU-1113 Sofia, Bulgaria

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

AUTOMATICA | 2009年 / 45卷 / 05期

关键词：

Min-max model predictive control; Multi-parametric programming; l(2)-stability; RECEDING HORIZON CONTROL; MPC; SYSTEMS; STATE; DESIGN; INPUT;

D O I：

10.1016/j.automatica.2008.12.023

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an approximate multi-parametric Nonlinear Programming (mp-NLP) approach to explicit solution of feedback min-max NMPC problems for constrained nonlinear systems in the presence of bounded disturbances and/or parameter uncertainties. It is based on an orthogonal search tree structure of the state space partition and consists in constructing a piecewise nonlinear (PWNL) approximation to the optimal sequence of feedback control policies. Conditions guaranteeing the robust stability of the closed-loop system in terms of a finite l(2)-gain are derived. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：1134 / 1143

页数：10

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