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Robust MPC of constrained discrete-time nonlinear systems based on approximated reachable sets |
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| Authors: | JM Bravo [Author Vitae] EF Camacho [Author Vitae] |
| Affiliation: | a Departamento de Ingeniería Electrónica, Sistemas Informáticos y Automática, Universidad de Huelva, Carretera Huelva-La Rábida, Palos de la Frontera, 21071 Huelva, Spain b Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain |
| Abstract: | A robust MPC for constrained nonlinear systems with uncertainties is presented. Outer bounds of the reachable sets of the system are used to predict the evolution of the system under uncertainty. A method that uses zonotopes to represent the approximated reachable sets is proposed. The closed-loop system is ultimately bounded thanks to a contractive constraint that drives the system to a robust invariant set. |
| Keywords: | Predictive control Nonlinear systems Constrained control Robust stability |
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