Predictive control of nonlinear systems: Output feedback and tracking

Author

Magni, L. ; De Nicolao, G. ; Scattolini, R.

Author_Institution

Dipt. di Inf. e Sist., Univ. di Pavia, Pavia, Italy

fYear

1999

fDate

Aug. 31 1999-Sept. 3 1999

Firstpage

3874

Lastpage

3879

Abstract

This paper presents an output-feedback Receding-Horizon (RH) control algorithm for nonlinear discrete-time systems which solves the problem of tracking exogenous signals and asymptotically rejecting disturbances generated by a properly defined exosystem. The overall regulator is composed by an internal model of the exosystem and a stabilizing RH regulator. In turn, this regulator is made by a state feedback control law and an asymptotic state observer, for example an Extended Kalman Filter. Some robustness results are also achieved in the case of constant references.

Keywords

Kalman filters; discrete time systems; nonlinear control systems; observers; predictive control; robust control; state feedback; asymptotic disturbance rejection; asymptotic state observer; constant references; exogenous signal tracking; extended Kalman filter; nonlinear discrete-time systems; output tracking; output-feedback receding-horizon control algorithm; predictive control; robustness results; stabilizing RH regulator; state feedback control law; Nonlinear Control; Predictive Control; Receding-Horizon Control; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1999 European

Conference_Location

Karlsruhe

Print_ISBN

978-3-9524173-5-5

Type

conf

Filename

7099936