A robust adaptive model predictive control framework for nonlinear uncertain systems

In this paper, we present a tube-based framework for robust adaptive model predictive control (RAMPC) for nonlinear systems subject to parametric uncertainty and additive disturbances. Set-membership estimation is used to provide accurate bounds on the parametric uncertainty, which are employed for...

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Bibliographic Details

Published in:	arXiv.org
Main Authors:	Köhler, Johannes, Kötting, Peter, Soloperto, Raffaele, Allgöwer, Frank, Müller, Matthias A
Format:	Paper
Language:	English
Published:	Ithaca Cornell University Library, arXiv.org 20.10.2020
Subjects:	Adaptive control Algorithms Constraint modelling Disturbances Feasibility Liapunov functions Nonlinear control Nonlinear systems Parameter estimation Predictive control Robust control Robustness (mathematics) Uncertainty
ISSN:	2331-8422
Online Access:	Get full text
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