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

作者：Carson John M III^*; Acikmese Behcet; Murray Richard M; MacMartin Douglas G

来源：Automatica, 2013, 49(5): 1251-1260.

DOI：10.1016/j.automatica.2013.02.025

• Model predictive control
• Receding horizon control
• Safety mode
• Linear matrix inequalities
• Robust nonlinear control

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 "state tube" 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.

• 出版日期2013-5