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A Robust Nonlinear Model Predictive Control Algorithm with a Safety Mode 
Abstract 
Safety guarantees are built into a robust … Safety guarantees are built into a robust MPC (Model Predictive Control) algorithm for uncertain nonlinear systems. The algorithm is designed to obey all state and control constraints and blend two operational modes: (I) standard mode guarantees resolvability and asymptotic convergence to the origin in a robust recedinghorizon manner; (II) safety mode, if activated, guarantees containment within an invariant set about a safety reference for all time. This research is motivated by physical vehicle controlalgorithm design (e.g. spacecraft and hovercraft) in which operation mode changes must be considered. Incorporating safety mode provides robustness to unexpected stateconstraint changes; e.g., other vehicles crossing/stopping in the feasible path, or unexpected ground proximity in landing scenarios. The safetymode control is provided by an offline designed control policy that can be activated at any arbitrary time during standard mode. The standardmode control consists of separate feedforward and feedback components; feedforward comes from online solution of a FHC (FiniteHorizon optimal Control problem), while feedback is designed offline to generate an invariant tube about the feedforward tra jectory. The tube provides robustness (to uncertainties and disturbances in the dynamics) and guarantees FHC resolvability. The algorithm design is demonstrated for a class of systems with uncertain nonlinear terms that have normbounded Jacobians. ar terms that have normbounded Jacobians. +


Authors  John M Carson, Behcet Acikmese, Richard M Murray, Douglas G MacMynowski + 
ID  2007q + 
Source  International Federation of Automatic Control (IFAC) World Congress, 2008 + 
Tag  camm08ifac + 
Title  A Robust Nonlinear Model Predictive Control Algorithm with a Safety Mode + 
Type  Conference paperp + 
Categories  Papers 
Modification date This property is a special property in this wiki.

17 May 2016 13:36:49 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/camm08ifac.pdf + 
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A Robust Nonlinear Model Predictive Control Algorithm with a Safety Mode +  Title 
