Getting Robustness Against Unstructured Uncertainty: A Tube-Based MPC Approach

被引：58
|
作者：
Falugi, Paola [1 ]
Mayne, David Q. [1 ]
机构：
[1] Univ London Imperial Coll Sci Technol & Med, Dept Elect & Elect Engn, London, England
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2014年 / 59卷 / 05期
基金：
英国工程与自然科学研究理事会;
关键词：
Model predictive control; nonlinear control systems; robust control; MODEL-PREDICTIVE CONTROL; TO-STATE STABILITY; DISCRETE-TIME; SYSTEMS;
D O I：
10.1109/TAC.2013.2287727
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 note extends tube-based model predictive control to the control of nonlinear systems with unmodeled dynamics. The problem of obtaining robustness against unstructured uncertainty is converted into the easier problem of achieving robustness against an additional bounded disturbance while satisfying an additional output constraint. The output constraint depends on the maximum gain of the unstructured dynamics.
引用
收藏
页码：1290 / 1295
页数：6
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