Min-Max Model Predictive Control of Nonlinear Systems using Discontinuous Feedbacks
نویسندگان
چکیده
This paper proposes a Model Predictive Control (MPC) algorithm for the solution of a robust control problem for continuous-time systems. Discontinuous feedback strategies are allowed in the solution of the min-max problems to be solved. The use of such strategies allows MPC to address a large class of nonlinear systems, including among others nonholonomic systems. Robust stability conditions to ensure steering to a certain set under bounded disturbances are established. The use of bang-bang feedbacks described by a small number of parameters is proposed, reducing considerably the computational burden associated with solving a differential game. The applicability of the proposed algorithm is tested to control a unicycle mobile robot. keywords: Predictive control; receding horizon; robust synthesis, discontinuous feedbacks.
منابع مشابه
Special section technical notes and correspondence. Min-max model predictive control of nonlinear systems using discontinuous feedbacks
This note proposes a model predictive control (MPC) algorithm for the solution of a robust control problem for continuous-time systems. Discontinuous feedback strategies are allowed in the solution of the min–max problems to be solved. The use of such strategies allows MPC to address a large class of nonlinear systems, including among others nonholonomic systems. Robust stability conditions to ...
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