2022
DOI: 10.1002/rnc.6129
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Approximate two‐loop robust nonlinear model predictive control with real‐time execution and closed‐loop guarantee

Abstract: In this article, a robust nonlinear model predictive control (NMPC) scheme with two control loops is considered and its real‐time execution is guaranteed for a predefined sampling time. Robustness of the NMPC scheme against bounded input uncertainty is achieved by assuming Lipschitz continuity of the inner‐loop dynamic function. The NMPC control law is approximated using piecewise affine linear functions over hyper‐rectangle regions generated by k‐d tree partitioning algorithm. Additionally, error bound on the… Show more

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Cited by 2 publications
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