DocumentCode
2382734
Title
Calculating the terminal region of NMPC for Lure systems via LMIs
Author
Böhm, Christoph ; Raff, Tobias ; Findeisen, Rolf ; Allgöwer, Frank
Author_Institution
Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart
fYear
2008
fDate
11-13 June 2008
Firstpage
1127
Lastpage
1132
Abstract
One way to guarantee stability in nonlinear model predictive control (NMPC) is to calculate a suitable stabilizing terminal penalty term and terminal region. This is in general a difficult task. In this paper a structured approach to overcome this problem for the class of Lure systems subject to state and input constraints is provided. In particular, the terminal penalty term and the terminal region are computed by solving a set of LMIs. The example of a flexible joint robotic arm illustrates the results of this paper.
Keywords
linear matrix inequalities; manipulators; nonlinear control systems; predictive control; stability; LMI; flexible joint robotic arm; lure systems; nonlinear model predictive control stability; stabilizing terminal penalty; terminal region; Automatic control; Control systems; Cost function; Nonlinear control systems; Optimal control; Predictive control; Predictive models; Robots; Sampling methods; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2008
Conference_Location
Seattle, WA
ISSN
0743-1619
Print_ISBN
978-1-4244-2078-0
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2008.4586644
Filename
4586644
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