Regular Papers

International Journal of Control, Automation and Systems 2016; 14(1): 78-89

Published online February 11, 2016

https://doi.org/10.1007/s12555-014-0233-y

© The International Journal of Control, Automation, and Systems

Saddle Point MPC Approach to Nonlinear Robust Sampled-Data Control Problem

Maxime Penet*, Hervé Guéguen, and Aziz Belmiloudi

Supélec

Abstract

This paper presents a robust nonlinear model predictive control strategy to consider the control of systems described by nonlinear ordinary differential equation in a sampled-data framework. The optimal couple controldisturbances is calculated as a time continuous function at each sampling instant by solving a saddle point problem. Using this controller, it is proved that the system is ultimately bounded and satisfies an exponential stability property at each sampling instants. To validate the efficiency of our approach, the presented methodology is illustrated on a cart, spring and damper example."

Keywords Adjoint model, NMPC, open-loop sampled-data, robust control, saddle point.

Article

Regular Papers

International Journal of Control, Automation and Systems 2016; 14(1): 78-89

Published online February 1, 2016 https://doi.org/10.1007/s12555-014-0233-y

Copyright © The International Journal of Control, Automation, and Systems.

Saddle Point MPC Approach to Nonlinear Robust Sampled-Data Control Problem

Maxime Penet*, Hervé Guéguen, and Aziz Belmiloudi

Supélec

Abstract

This paper presents a robust nonlinear model predictive control strategy to consider the control of systems described by nonlinear ordinary differential equation in a sampled-data framework. The optimal couple controldisturbances is calculated as a time continuous function at each sampling instant by solving a saddle point problem. Using this controller, it is proved that the system is ultimately bounded and satisfies an exponential stability property at each sampling instants. To validate the efficiency of our approach, the presented methodology is illustrated on a cart, spring and damper example."

Keywords: Adjoint model, NMPC, open-loop sampled-data, robust control, saddle point.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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