NDLI: Robust model predictive control of constrained non-linear systems: adopting the non-squared integrand objective function

Content Provider	IET Digital Library
Author	Liu, Xiaotao Constantinescu, Daniela Shi, Yang
Abstract	This study presents a novel robust model predictive control (MPC) method for constrained non-linear systems with control constraints and external disturbances. The control signal is obtained by optimising an objective function consisting of two terms: an integral non-squared stage cost and a non-squared terminal cost. The terminal weighting matrix is designed appropriately such that: (i) the terminal cost serves as a control Lyapunov function; and (ii) the resultant finite horizon cost can be treated as a quasi-infinite horizon cost. Provided that the Jacobian linearisation of the system to be controlled is stabilisable and the optimisation is initially feasible, sufficient conditions ensuring the recursive feasibility of the optimisation and the robust stability of the closed-loop system are established. It is shown that the conditions rely on an appropriate design of the sampling interval with respect to a certain given disturbance level. The effectiveness of the proposed method is illustrated through a numerical example.
Starting Page	649
Ending Page	658
Page Count	10
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 5, Mar (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.1078
Journal	IET Control Theory & Applications
Publisher Date	2015-03-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Closed Loop System Closed-loop System Constrained Nonlinear System Control Constraint Control Lyapunov Function Control Signal Integral Nonsquared Stage Cost Jacobian Linearisation Linearisation Technique Lyapunov Method MPC Method Nonlinear Control System Nonlinear System Nonsquared Integrand Objective Function Nonsquared Terminal Cost Optimal Control Optimisation Optimisation Technique Predictive Control Quasiinfinite Horizon Cost Robust Control Robust Model Predictive Control Robust Stability Stability in Control Theory
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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