DocumentCode :
2628973
Title :
Nominally robust model predictive control with state constraints
Author :
Grímm, Gene ; Messina, Michael J. ; Tuna, Sezai E. ; Teel, Andrew R.
Author_Institution :
Dept. of Electr. & Comput. Eng., California Univ., Santa Barbara, CA, USA
Volume :
2
fYear :
2003
fDate :
9-12 Dec. 2003
Firstpage :
1413
Abstract :
We present robust stabilization results for constrained, discrete-time, nonlinear systems using a finite-horizon model predictive control (MPC) algorithm that does not require any particular properties for the terminal cost. We introduce a property that characterizes the robustness properties of the MPC optimization problem. Assuming the system has this property (for which we give sufficient conditions), we make two further key assumptions. These are that the value function is bounded by a K function of a state measure (related to the distance of the state to some target set) and that this measure is detectable from the stage cost used in the MPC algorithm. We show that these assumptions lead to stability that is robust to sufficiently small disturbances and measurement noise. While in general the results are semiglobal practical, when the detectability and upper bound assumptions are satisfied with linear K functions, the stability and robustness is global with respect to the feasible set. We discuss algorithms employing terminal equality or inequality constraints. We provide two examples, one involving a terminal equality constraint and the other involving a nonrobustness-inducing state constraint.
Keywords :
discrete time systems; nonlinear control systems; optimisation; predictive control; robust control; constrained discrete-time nonlinear systems; finite-horizon model predictive control; optimization; robust stabilization; state constraints; Cost function; Noise measurement; Noise robustness; Nonlinear systems; Prediction algorithms; Predictive control; Predictive models; Robust control; Robust stability; Sufficient conditions;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN :
0191-2216
Print_ISBN :
0-7803-7924-1
Type :
conf
DOI :
10.1109/CDC.2003.1272808
Filename :
1272808
Link To Document :
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