Multi‐Step Control Set‐Based Nonlinear Model Predictive Control with Persistent Disturbances. Issue 2 (17th April 2018)

• Record Type: Journal Article
• Authors: Shi, Donglin; Mao, Zhizhong
• Is Part Of: Asian journal of control. Volume 21:Issue 2(2019)
• Page Start: 868
• Page End: 878
• Publication Date: 2018-04-17
• Subjects: Nonlinear model predictive control -- input‐to‐state stability -- multi‐step control set -- polytopic description -- disturbance; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1786
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: A robust model predictive control algorithm is proposed for a constrained nonlinear system with bounded persistent disturbance in this paper. Based on polytopic descriptions that include the initial system, the proposed algorithm computes a series of multi‐step control sets offline and the convex combination of them online respectively by solving convex optimization problems described by a few linear matrix inequalities. At each sampling time, the control moves satisfying the control constraint are obtained and implemented in the system. The controller design is illustrated with two examples. The proposed MPC controller achieves closed‐loop input‐to‐state (practical) stability (ISS/ISpS) and strong robustness in respect of bounded persistent disturbances.