A robust adaptive model predictive control framework for nonlinear uncertain systems
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Abstract: In this paper, we present a tube-based framework for robust adaptive model predictive control (RAMPC) for nonlinear systems subject to parametric uncertainty and additive disturbances. Set-membership estimation is used to provide accurate bounds on the parametric uncertainty, which are employed for the construction of the tube in a robust MPC scheme. The resulting RAMPC framework ensures robust recursive feasibility and robust constraint satisfaction, while allowing for less conservative operation compared to robust MPC schemes without model/parameter adaptation. Furthermore, by using an additional mean-squared point estimate in the objective function the framework ensures finite-gain stability w.r.t. additive disturbances. As a first contribution we derive suitable monotonicity and non-increasing properties on general parameter estimation algorithms and tube/set based RAMPC schemes that ensure robust recursive feasibility and robust constraint satisfaction under recursive model updates. Then, as the main contribution of this paper, we provide similar conditions for a tube based formulation that is parametrized using an incremental Lyapunov function, a scalar contraction rate and a function bounding the uncertainty. With this result, we can provide simple constructive designs for different RAMPC schemes with varying computational complexity and conservatism. As a corollary, we can demonstrate that state of the art formulations for nonlinear RAMPC are a special case of the proposed framework. We provide a numerical example that demonstrates the flexibility of the proposed framework and showcase improvements compared to state of the art approaches.
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Cited in
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- scientific article; zbMATH DE number 7155808 (Why is no real title available?)
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