Robust and Adaptive Model Predictive Control of Nonlinear Systems (Control, Robotics and Sensors)

Guay, Martin/ Adetola, Veronica/ DeHaan, Darryl

Institution of Engineering and Technology（2014/12発売）

• 製本 Hardcover:ハードカバー版／ページ数 272 p.
• 言語 ENG
• 商品コード 9781849195522
• DDC分類 629.836

Full Description

Most physical systems possess parametric uncertainties or unmeasurable parameters and, since parametric uncertainty may degrade the performance of model predictive control (MPC), mechanisms to update the unknown or uncertain parameters are desirable in application. One possibility is to apply adaptive extensions of MPC in which parameter estimation and control are performed online. This book proposes such an approach, with a design methodology for adaptive robust nonlinear MPC (NMPC) systems in the presence of disturbances and parametric uncertainties. One of the key concepts pursued is the concept of set-based adaptive parameter estimation, which provides a mechanism to estimate the unknown parameters as well as an estimate of the parameter uncertainty set. The knowledge of non-conservative uncertain set estimates is exploited in the design of robust adaptive NMPC algorithms that guarantee robustness of the NMPC system to parameter uncertainty.

Topics covered include: a review of nonlinear MPC; extensions for performance improvement; introduction to adaptive robust MPC; computational aspects of robust adaptive MPC; finite-time parameter estimation in adaptive control; performance improvement in adaptive control; adaptive MPC for constrained nonlinear systems; adaptive MPC with disturbance attenuation; robust adaptive economic MPC; setbased estimation in discrete-time systems; and robust adaptive MPC for discrete-time systems.

Contents

Chapter 1: Introduction
Chapter 2: Optimal control
Chapter 3: Review of nonlinear MPC
Chapter 4: A real-time nonlinear MPC technique
Chapter 5: Extensions for performance improvement
Chapter 6: Introduction to adaptive robust MPC
Chapter 7: Computational aspects of robust adaptive MPC
Chapter 8: Finite-time parameter estimation in adaptive control
Chapter 9: Performance improvement in adaptive control
Chapter 10: Adaptive MPC for constrained nonlinear systems
Chapter 11: Adaptive MPC with disturbance attenuation
Chapter 12: Robust adaptive economic MPC
Chapter 13: Set-based estimation in discrete-time systems
Chapter 14: Robust adaptive MPC for discrete-time systems