Homothetic Tube Model Predictive Control for Nonlinear Systems

• 成果类型: Article
• 署名作者: Rakovic, Sasa V.; Dai, Li; Xia, Yuanqing
• 署名单位: Beijing Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3207415
• 发表日期: 2023
• 页码: 4554-4569
• 关键词: Model predictive control; Nonlinear systems; tube model predictive control

摘要

Homothetic tube model predictive control is generalized to the setting of nonlinear discrete-time systems. The developed generalization is natural in the sense that the utilized assumptions in the nonlinear setting are suitably generalized variants of the related assumptions deployed in the linear case. The main analysis is carried out for Lipschitz systems, and it is subsequently extended to set-valued systems and other classes of nonlinear systems as well as particularized for parameterically uncertain linear systems. All desirable computational and structural properties of homothetic tube model predictive control are preserved.