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

• Tipo: Artigo em Revista Científica Internacional
• Data: 2003

Autores

fontes, facc (Autor) FEUP; magni, l (Autor) Outra

Revista

Título: IEEE Transactions on Automatic Control

Vol. 48 Nº 10

Páginas: 1750-1755

ISSN: 0018-9286

Editora: IEEE

Indexação

ISI Web of Knowledge - 64 Citações

Scopus - 77 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6