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.

Published in:
Proceedings of the 18th IFAC World Congress, 18
Presented at:
18th IFAC World Congress, Milano, Italy, August, 2011

 Record created 2011-10-24, last modified 2018-09-13

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