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Special section technical notes and correspondence. Min-max model predictive control of nonlinear systems using discontinuous feedbacks

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2 Author(s)
Fontes, F.A.C.C. ; Dept. de Matematica para a Ciencia e Tecnologia, Univ. do Minho, Guimaraes, Portugal ; Magni, L.

This note proposes a model predictive control (MPC) algorithm for the solution of a robust control problem for continuous-time systems. Discontinuous feedback strategies are allowed in the solution of the min-max problems to be solved. The use of such strategies allows MPC to address a large class of nonlinear systems, including among others nonholonomic systems. Robust stability conditions to ensure steering to a certain set under bounded disturbances are established. The use of bang-bang feedbacks described by a small number of parameters is proposed, reducing considerably the computational burden associated with solving a differential game. The applicability of the proposed algorithm is tested to control a unicycle mobile robot.

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Automatic Control, IEEE Transactions on  (Volume:48 ,  Issue: 10 )