Robust adaptive MPC using control contraction metrics

DOI10.1016/j.automatica.2023.111169zbMath1520.93141arXiv2209.11713OpenAlexW4383336640MaRDI QIDQ6165346

Melanie N. Zeilinger, Johannes Köhler, András Sasfi

Publication date: 31 July 2023

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2209.11713

zbMATH Keywords

uncertain systemsnonlinear systemsmodel predictive controlcontrol of constrained systemstube MPCcontrol contraction metrics

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Model predictive control (93B45)

Cites Work

• Unnamed Item
• Robust MPC via min-max differential inequalities
• Adaptive model predictive control for constrained nonlinear systems
• Fast suboptimal predictive control with guaranteed stability
• On contraction analysis for non-linear systems
• Robust MPC with recursive model update
• CasADi: a software framework for nonlinear optimization and optimal control
• Robust model predictive control of constrained linear systems with bounded disturbances
• Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems
• Adaptive receding horizon control for constrained MIMO systems
• Nonlinear model predictive control. Theory and algorithms
• Homothetic tube model predictive control
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Nonlinear MPC for Tracking Piece-Wise Constant Reference Signals
• Robust Model Predictive Control of Nonlinear Systems With Bounded and State-Dependent Uncertainties
• A Nonlinear Model Predictive Control Framework Using Reference Generic Terminal Ingredients
• Model Predictive Control of Continuous-Time Nonlinear Systems With Piecewise Constant Control
• Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design
• A Computationally Efficient Robust Model Predictive Control Framework for Uncertain Nonlinear Systems
• Systems with persistent disturbances: Predictive control with restricted constraints
• A general framework to design stabilizing nonlinear model predictive controllers
• Robust adaptive model predictive control with persistent excitation conditions