Conference paper

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.


    • EPFL-CONF-169727

    Record created on 2011-10-24, modified on 2016-08-09


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