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Tube-based robust nonlinear model predictive control
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DOI：10.1002/rnc.1758.png)
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Abstract
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This paper extends tube-based model predictive control of linear systems to achieve robust control of nonlinear systems subject to additive disturbances. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in tube-based robust control of linear systems, is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose center is the reference trajectory thereby enabling robust control of uncertain nonlinear systems to be achieved. Copyright (C) 2011 John Wiley & Sons, Ltd.
Keywords:
robust model predictive control
nonlinear model predictive control
discrete-time systems
tubes
uncertain systems
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