Robust MPC of constrained discrete-time nonlinear systems based on approximated reachable sets

A robust MPC for constrained nonlinear systems with uncertainties is presented. Outer bounds of the reachable sets of the system are used to predict the evolution of the system under uncertainty. A method that uses zonotopes to represent the approximated reachable sets is proposed. The closed-loop system is ultimately bounded thanks to a contractive constraint that drives the system to a robust invariant set. 2006 Elsevier Ltd. All rights reserved.

• Type: Journal
• Year: 2006
• Where: AUTOMATICA
• Authors: J. M. Bravo, T. Alamo, Eduardo F. Camacho
• Keywords: AUTOMATICA 2006, Nonlinear Systems, Reachable Sets, Robust Mpc