Robust Predictive Control of a Class of Nonlinear Systems

In this work, a continuous-time predictive controller designed for a class of nonlinear systems is robustified using an extended state observer. The predictive controller formulation requires the availability of an accurate mathematical model of the plant and the complete state vector. In this work,...

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Bibliographic Details
Published in:Journal of guidance, control, and dynamics control, and dynamics, 2014-09, Vol.37 (5), p.1437-1445
Main Authors: Panchal, Bhavnesh, Kolhe, Jaywant P, Talole, S E
Format: Article
Language:English
Subjects:
Aerospace engineering
Aircraft
Automatic pilots
Autopilots
Control stability
Control systems
Control systems design
Controllers
Design
Disturbances
Dynamical systems
Mathematical models
Nonlinear dynamics
Nonlinear systems
Predictive control
Robust control
State observers
State vectors
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Summary:In this work, a continuous-time predictive controller designed for a class of nonlinear systems is robustified using an extended state observer. The predictive controller formulation requires the availability of an accurate mathematical model of the plant and the complete state vector. In this work, the extended state observer is employed to address these issues. The extended state observer simultaneously estimates the state and the effect of uncertainty and disturbances in an integrated manner. The estimated states and disturbances are used to robustify the predictive controller designed for nominal system. Closed-loop stability for the overall system is established. As an illustrative example, missile autopilot design using the proposed approach is presented along with simulation results. Finally, comparison results of the proposed approach with existing techniques appeared in the literature toward the robustification of the predictive controller are presented. The study clearly brings out the efficacy and effectiveness of the extended state observer-based predictive controller in offering improved robustness and performance.
ISSN:0731-5090
1533-3884
DOI:10.2514/1.G000694