Robust MPC via min-max differential inequalities
From MaRDI portal
(Redirected from Publication:510141)
Abstract: This paper is concerned with tube-based model predictive control (MPC) for both linear and nonlinear, input-affine continuous-time dynamic systems that are affected by time-varying disturbances. We derive a min-max differential inequality describing the support function of positive robust forward invariant tubes, which can be used to construct a variety of tube-based model predictive controllers. These constructions are conservative, but computationally tractable and their complexity scales linearly with the length of the prediction horizon. In contrast to many existing tube-based MPC implementations, the proposed framework does not involve discretizing the control policy and, therefore, the conservatism of the predicted tube depends solely on the accuracy of the set parameterization. The proposed approach is then used to construct a robust MPC scheme based on tubes with ellipsoidal cross-sections. This ellipsoidal MPC scheme is based on solving an optimal control problem under linear matrix inequality constraints. We illustrate these results with the numerical case study of a spring-mass-damper system.
Recommendations
- Robust model predictive control using tubes.
- Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems
- Robust tube-based model predictive control of LPV systems subject to adjustable additive disturbance set
- Robust tube-based MPC with piecewise affine control laws
- Robust model predictive control for constrained continuous-time nonlinear systems
Cites work
- scientific article; zbMATH DE number 1100444 (Why is no real title available?)
- scientific article; zbMATH DE number 3282899 (Why is no real title available?)
- scientific article; zbMATH DE number 3397998 (Why is no real title available?)
- An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range
- Bounds on the reachable sets of nonlinear control systems
- Branch-and-lift algorithm for deterministic global optimization in nonlinear optimal control
- Conditions under which suboptimal nonlinear MPC is inherently robust
- Constrained receding horizon predictive control for nonlinear systems
- Dynamic programming and optimal control. Vol. 1.
- Efficient numerical methods for nonlinear MPC and moving horizon estimation
- Ellipsoidal calculus for estimation and control
- Every closed convex set is the set of minimizers of some $C^{\infty }$-smooth convex function
- Fully parameterized tube model predictive control
- Infinite Horizon Performance Bounds for Uncertain Constrained Systems
- Inherent robustness properties of quasi-infinite horizon nonlinear model predictive control
- Introduction to sensitivity and stability analysis in nonlinear programming
- Invariant approximations of the minimal robust positively Invariant set
- Linear Matrix Inequalities in System and Control Theory
- On Hypersurfaces with no Negative Sectional Curvatures
- On real-time robust model predictive control
- Optimization over state feedback policies for robust control with constraints
- Output feedback receding horizon control of constrained systems
- Parameterized Tube Model Predictive Control
- Robust Dynamic Programming for Min–Max Model Predictive Control of Constrained Uncertain Systems
- Robust Model Predictive Control With Integral Sliding Mode in Continuous-Time Sampled-Data Nonlinear Systems
- Robust Tubes in Nonlinear Model Predictive Control
- Robust constrained model predictive control using linear matrix inequalities
- Robust model predictive control using tubes.
- Robust output feedback model predictive control of constrained linear systems: time varying case
- Set invariance in control
- Set theoretic methods in model predictive control
- Set-theoretic methods in control
- The Feedback Robust MPC for LPV Systems With Bounded Rates of Parameter Changes
- Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems
- Unified framework for the propagation of continuous-time enclosures for parametric nonlinear ODEs
- Viability theory
Cited in
(25)- Tight reachability bounds for constrained nonlinear systems using mean value differential inequalities
- Robust adaptive MPC using control contraction metrics
- A set-theoretic generalization of dissipativity with applications in tube MPC
- Tube‐enhanced multi‐stage model predictive control for flexible robust control of constrained linear systems with additive and parametric uncertainties
- Robust tube-based NMPC for dynamic systems with discrete degrees of freedom
- Robust Explicit MPC Based on Approximate Multiparametric Convex Programming
- Contraction-based model predictive control for stochastic nonlinear discrete-time systems with time-varying delays via multi-dimensional Taylor network
- A robust adaptive model predictive control framework for nonlinear uncertain systems
- Min-max robust control in LQ-differential games
- Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems
- Stable predictive control of continuous stirred-tank reactors using deep learning
- Aperiodic event‐triggered robust model predictive control for linear parameter‐varying system with round‐robin protocol
- On a class of controlled differential variational inequalities
- Joint synthesis of trajectory and controlled invariant funnel for discrete‐time systems with locally Lipschitz nonlinearities
- Tube-based robust nonlinear model predictive control
- Nonlinear learning‐based model predictive control supporting state and input dependent model uncertainty estimates
- Robust tube-based MPC with piecewise affine control laws
- Robust maximum principle in minimax control
- Learning for MPC with stability \& safety guarantees
- Ambiguity tube MPC
- Sensitivity analysis of uncertain dynamic systems using set-valued integration
- Configuration-Constrained Tube MPC
- Exploiting nonlinear invariants and path constraints to achieve tighter reachable set enclosures using differential inequalities
- Constrained control for systems on matrix Lie groups with uncertainties
- Backward-forward reachable set splitting for state-constrained differential games
This page was built for publication: Robust MPC via min-max differential inequalities
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q510141)
