Artículo
Robust MPC of constrained nonlinear systems based on interval arithmetic
Autor/es | Limón Marruedo, Daniel
Bravo, J.M. Alamo, Teodoro Camacho, Eduardo F. |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2005 |
Fecha de depósito | 2020-03-16 |
Publicado en |
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Resumen | A robust MPC for constrained discrete-time nonlinear systems with additive
uncertainties is presented. The proposed controller is based on the concept of reachable sets, that
is, the sets that contain the predicted ... A robust MPC for constrained discrete-time nonlinear systems with additive uncertainties is presented. The proposed controller is based on the concept of reachable sets, that is, the sets that contain the predicted evolution of the uncertain system for all possible uncertainties. If processes are nonlinear these sets are very difficult to compute. A conservative approximation based on interval arithmetic is proposed for the online computation of these sets. This technique provides good results with a computational effort only slightly greater than the one corresponding to the nominal prediction. These sets are incorporated into the MPC formulation to achieve robust stability. By choosing a robust positively invariant set as a terminal constraint, a robustly stabilising controller is obtained. Stability is guaranteed in the case of suboptimality of the computed solution. The proposed controller is applied to a continuous stirred tank reactor with an exothermic reaction. |
Agencias financiadoras | DPI-2002-4375-C02-01 |
Identificador del proyecto | DPI-2001-2380-03- 01 |
Cita | Limón Marruedo, D., Bravo, J.M., Alamo, T. y Camacho, E.F. (2005). Robust MPC of constrained nonlinear systems based on interval arithmetic. IEE proceedings. Control Theory and Applications, 152 (3), 325-332. |
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LimonCTA05.pdf | 133.0Kb | [PDF] | Ver/ | |