An improved dual-mode robust nonlinear MPC with one-step set optimization

An improved robust nonlinear model predictive control scheme with robust one-step set is proposed for a class of nonlinear systems with bounded disturbances to reduce computation complexity of online optimization. Firstly, the robust control invariant set is constructed based on bounded linearization errors and control invariant tube set control strategy. Secondly, based on the robust N-step stabilisable set of nonlinear systems, which is computed via an iterative process, an improved low complexity dual-mode robust NMPC is presented via an efficient nonlinear one-step online optimization. This control approach not only guarantees robust feasibility of on-line optimization, but also reduces computation load significantly. Finally, the digital simulation results prove availability of the proposed method.