A robust explicit nonlinear mpc controller with input-to- state stability guarantees
This article presents an algorithm for robust nonlinear explicit model predictive control. A low complexity receding horizon control law is obtained by approximating the optimal control law using multiscale basis function approximation. Feasibility and input-to-stability of the system in closed-loop with the approximate control law are verified using reachability analysis where zonotopes, DC programming, and recursive splitting, are used to compute a capture basin. The resulting control law is built on a grid hierarchy that is fast to evaluate in real-time systems.
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Raimondo, D., Riverso, S., Jones, C., & Morari, M. (2011). A robust explicit nonlinear mpc controller with input-to- state stability guarantees. Proceedings of the 18th IFAC World Congress, 9284–9289. https://doi.org/10.3182/20110828-6-IT-1002.03495
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2011
9284
9289
NON-REVIEWED
EPFL
| Event name | Event place | Event date |
Milano, Italy | August, 2011 | |