# A robust model predictive control algorithm augmented with a reactive safety mode

### John M. Carson III, BehÃ§et AÃ§Ä±kmeÅe, Richard M. Murray, Douglas G. MacMartin

Automatica, 49(5):1251-1260

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 re-solvability and asymptotic convergence in a robust receding-horizon manner; (II) safety, if activated, guarantees containment within an invariant set about a reference. The reactive safety mode provides robustness to unexpected, but real-time anticipated, state-constraint changes during standard mode operation. The safety-mode control policy is designed offline and can be activated at any arbitrary time. The standard-mode control has feedforward and feedback components: feedforward is from online solution of a finite-horizon optimal control problem; feedback is designed offline to provide robustness to system uncertainty and disturbances and to establish an invariant âstate tubeâ that guarantees standard-mode re-solvability at any time. The algorithm design is shown for a class of systems with incrementally-conic uncertain/nonlinear terms and bounded disturbances.

- Journal paper: http://www.sciencedirect.com/science/article/pii/S0005109813001143
- Project(s): Template:HTDB funding::VaVMURI