Discrete-time robust model predictive control for continuous-time nonlinear systems
Discrete-time robust model predictive control for continuous-time nonlinear systems
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DOI：
10.1109/acc.2015.7170852
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发表时间：
2015-07
期刊：
影响因子：
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通讯作者：
M. Kögel;R. Findeisen
中科院分区：
文献类型：
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作者：
M. Kögel;R. Findeisen
我们考虑连续时间，约束，非线性系统的离散时间控制方案的鲁棒预测控制。其关键思想是首先离散系统，并显式地限制所产生的离散误差。考虑到这个错误的鲁棒稳定的预测控制器，提出了保证在采样情况下的约束满足，并通过一个简单的修改也连续的约束满足。最后通过一个例子说明了结果。
We consider robust predictive control of continuous-time, constrained, nonlinear systems by means of a discrete-time control scheme. The key idea is to discretize the system first and to explicitly bound the arising discretization error. Taking this error into account a robustly stabilizing predictive controller is proposed that guarantees constraint satisfaction at the sampling instances and via a simple modification also continuous constraint satisfaction. The results are illustrated by an example.