Homothetic Tube Model Predictive Control for Nonlinear Systems

作者：Saša V. Raković, Li Dai, Yuanqing Xia · 发表于：IEEE Transactions on Automatic Control · 年份：2022 · DOI：10.1109/tac.2022.3207415 · 被引用次数：33 · 研究领域：Advanced Control Systems Optimization、Control Systems and Identification、Fault Detection and Control 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 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.