Discontinuous feedback stabilization using nonlinear model predictive controllers

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2000

Autores

Fernando A. C. C. Fontes (Autor) FEUP

Ata de Conferência Internacional

Título: PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5

Páginas: 4969-4971

39th IEEE Conference on Decision and Control

SYDNEY, AUSTRALIA, DEC 12-15, 2000

Indexação

ISI Web of Knowledge - 3 Citações

Scopus - 9 Citações

Outras Informações

ID Authenticus: P-001-22X

DOI: 10.1109/CDC.2001.914720

Abstract (EN): We propose a Model Predictive Control (MPC) framework to generate feedback controls for time-varying nonlinear systems with input constraints. One of the main features of this framework is to allow the feedback laws to be discontinuous and thereby enlarge the class of nonlinear systems that can be stabilized by continuous-time MPC. We consider a continuous-time MPC framework and perform a continuous-time stability analysis while considering that the inter-sampling times are nonzero and that the open-loop optimal control problems are solved at every sampling instant. The feedback law generated by MPC is not a function of the state at every instant of time, rather it is a function of the state at the last sampling instant. The trajectories resulting from this "sampling-feedback" are well-defined even when the feedback is discontinuous. Important classes of nonlinear systems that could not be stabilized by a continuous feedback, such as the nonholonomic systems, can now be addressed in a continuous-time MPC framework.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 3