Getting Robustness Against Unstructured Uncertainty: A Tube-Based MPC Approach
Getting Robustness Against Unstructured Uncertainty: A Tube-Based MPC Approach
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DOI：
10.1109/tac.2013.2287727
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发表时间：
2014-05
影响因子：
6.8
通讯作者：
P. Falugi;D. Mayne
中科院分区：
文献类型：
--
作者：
P. Falugi;D. Mayne
本文将基于管道的模型预测控制推广到具有未建模动态的非线性系统的控制。将对非结构化不确定性的鲁棒性问题转化为对附加有界扰动的鲁棒性问题，同时满足附加输出约束。输出约束取决于非结构动力学的最大l∞增益。
This note extends tube-based model predictive control to the control of nonlinear systems with unmodeled dynamics. The problem of obtaining robustness against unstructured uncertainty is converted into the easier problem of achieving robustness against an additional bounded disturbance while satisfying an additional output constraint. The output constraint depends on the maximum l∞ gain of the unstructured dynamics.