conference paper
A robust explicit nonlinear mpc controller with input-to- state stability guarantees
2011
Proceedings of the 18th IFAC World Congress
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.
Type
conference paper
Author(s)
Date Issued
2011
Published in
Proceedings of the 18th IFAC World Congress
Start page
9284
End page
9289
Editorial or Peer reviewed
NON-REVIEWED
Written at
EPFL
EPFL units
| Event name | Event place | Event date |
Milano, Italy | August, 2011 | |
Available on Infoscience
October 24, 2011
Use this identifier to reference this record