Name
Title | ||
|---|---|---|
Special section technical notes and correspondence. Min-max model predictive control of nonlinear systems using discontinuous feedbacks. |
Abstract | ||
|---|---|---|
This note proposes a model predictive control (MPC) algorithm for the solution of a robust control problem for continuous-time systems. Discontinuous feedback strategies are allowed in the solution of the min-max problems to be solved. The use of such strategies allows MPC to address a large class of nonlinear systems, including among others nonholonomic systems. Robust stability conditions to ensure steering to a certain set under bounded disturbances are established. The use of bang-bang feedbacks described by a small number of parameters is proposed, reducing considerably the computational burden associated with solving a differential game. The applicability of the proposed algorithm is tested to control a unicycle mobile robot. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1109/TAC.2003.817915 | IEEE Trans. Automat. Contr. |
Keywords | Field | DocType |
Predictive models,Predictive control,Nonlinear systems,Feedback,Robust control,Control system synthesis,Industrial control,Uncertainty,Lyapunov method,Adaptive control | Mathematical optimization,Nonlinear system,Control theory,Model predictive control,Differential game,Automatic control,Adaptive control,Robust control,Nonholonomic system,Mathematics,Sliding mode control | Journal |
Volume | Issue | ISSN |
48 | 10 | 0018-9286 |
Citations | PageRank | References |
23 | 2.10 | 10 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fernando A. C. C. Fontes | 1 | 52 | 10.70 |
| Lalo Magni | 2 | 318 | 30.63 |