Robust MPC of constrained discrete-time nonlinear systems based on approximated reachable sets

Authors:
J. M. Bravo;T. Alamo;E. F. Camacho
Affiliations:
Departamento de Ingeniería Electrónica, Sistemas Informáticos y Automática, Universidad de Huelva, Carretera Huelva-La Rábida, Palos de la Frontera, 21071 Huelva, Spain;Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain;Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos s/n, 41092 Sevilla, Spain
Venue:
Automatica (Journal of IFAC)
Year:
2006

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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.