Homothetic Tube Model Predictive Control for Nonlinear Systems

Homothetic tube model predictive control is generalized to the setting of nonlinear discrete-time systems. The developed generalization is natural in the sense that the utilized assumptions in the nonlinear setting are suitably generalized variants of the related assumptions deployed in the linear c...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2023-08, Vol.68 (8), p.4554-4569
Main Authors: Rakovic, Sasa V., Dai, Li, Xia, Yuanqing
Format: Article
Language:English
Subjects:
Control systems
Discrete time systems
Electron tubes
Linear systems
Lyapunov methods
Model predictive control
Nonlinear control
Nonlinear systems
Predictive control
Trajectory
tube model predictive control
Uncertainty
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Summary:Homothetic tube model predictive control is generalized to the setting of nonlinear discrete-time systems. The developed generalization is natural in the sense that the utilized assumptions in the nonlinear setting are suitably generalized variants of the related assumptions deployed in the linear case. The main analysis is carried out for Lipschitz systems, and it is subsequently extended to set-valued systems and other classes of nonlinear systems as well as particularized for parameterically uncertain linear systems. All desirable computational and structural properties of homothetic tube model predictive control are preserved.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2022.3207415