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Linear Time-Varying Robust Model Predictive Control for Discrete-Time Nonlinear Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0003-1673-2671
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-6802-7520
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0002-1927-1690
Scania CV AB, Res & Dev, SE-15187 Sodertalje, Sweden..
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2018 (English)In: 2018 IEEE Conference on Decision and Control  (CDC), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 2659-2666Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a robust model predictive controller for discrete-time nonlinear systems, subject to state and input constraints and unknown but bounded input disturbances. The prediction model uses a linearized time-varying version of the original discrete-time system. The proposed optimization problem includes the initial state of the current nominal model of the system as an optimization variable, which allows to guarantee robust exponential stability of a disturbance invariant set for the discrete-time nonlinear system. From simulations, it is possible to verify the proposed algorithm is real-time capable, since the problem is convex and posed as a quadratic program.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 2659-2666
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-245109DOI: 10.1109/CDC.2018.8618866ISI: 000458114802081Scopus ID: 2-s2.0-85062174591ISBN: 978-1-5386-1395-5 (print)OAI: oai:DiVA.org:kth-245109DiVA, id: diva2:1294105
Conference
57th IEEE Conference on Decision and Control, CDC 2018; Centre of the Fontainebleau in Miami Beach Miami; United States; 17 December 2018 through 19 December 2018
Note

QC 20190306

Available from: 2019-03-06 Created: 2019-03-06 Last updated: 2019-03-06Bibliographically approved

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Pereira, Goncalo CollaresLima, Pedro F.Wahlberg, BoMårtensson, Jonas

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