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A robust model predictive control algorithm augmented with a reactive safety mode 
Abstract 
A reactive safety mode is built into a rob … A reactive safety mode is built into a robust model predictive control algorithm for uncertain nonlinear systems with bounded disturbances. The algorithm enforces state and control constraints and blends two modes: (I) standard, guarantees resolvability and asymptotic convergence in a robust recedinghorizon manner; (II) safety, if activated, guarantees containment within an invariant set about a reference. The reactive safety mode provides robustness to unexpected, but realtime anticipated, stateconstraint changes during standard mode operation. The safetymode control policy is designed offline and can be activated at any arbitrary time. The standardmode control has feedforward and feedback components: feedforward is from online solution of a finitehorizon optimal control problem; feedback is designed offline to provide robustness to system uncertainty and disturbances and to establish an invariant âstate tubeâ that guarantees standardmode resolvability at any time. The algorithm design is shown for a class of systems with incrementallyconic uncertain/nonlinear terms and bounded disturbances. /nonlinear terms and bounded disturbances. +


Authors  John M. Carson III, BehÃ§et AÃ§Ä±kmeÅe, Richard M. Murray, Douglas G. MacMartin + 
ID  2013e + 
Source  Automatica, 49(5):12511260 + 
Tag  camm13automatica + 
Title  A robust model predictive control algorithm augmented with a reactive safety mode + 
Type  Journal paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:15:21 + 
URL This property is a special property in this wiki.

http://www.sciencedirect.com/science/article/pii/S0005109813001143 + 
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A robust model predictive control algorithm augmented with a reactive safety mode +  Title 
