Min-max model predictive control of nonlinear systems using discontinuous feedbacks

• Type: Article in International Scientific Journal
• Date: 2003

Authors

fontes, facc (Author) FEUP; magni, l (Author) Other

Journal

Title: IEEE Transactions on Automatic Control

Vol. 48 No. 10

Pages: 1750-1755

ISSN: 0018-9286

Publisher: IEEE

Indexing

ISI Web of Knowledge - 64 Citations

Scopus - 77 Citations

Other information

Authenticus ID: P-000-EZE

DOI: 10.1109/tac.2003.817915

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6