Work

Error Bounds in Nonlinear Model Predictive Control with Linear Differential Inclusions of Parametric-Varying Embeddings

Year: 2024

Type: conference-paper

Abstract: In this work, we provide deterministic error bounds for the actual state evolution of nonlinear systems that can be embedded in linear parameter-varying (LPV) formulation and steered by model predictive control (MPC). The main novelty concerns the explicit derivation of these deterministic bounds as polytopic tubes using linear differential inclusions (LDIs). We provide exact error formulations compared to other approaches based on linearization schemes that inevitably introduce additional errors and deteriorate performance. The analysis and method are certified by solving the regulation problem of an unbalanced disk.

Source: International Conference on Control, Automation, Robotics and Vision (ICARCV)

DOI: 10.1109/icarcv63323.2024.10821691

Authors: Dimitrios S. Karachalios, Maryam Nezami, Georg Schildbach, Hossam S. Abbas

Institution: University of Lübeck

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4406208720

FWCI: 0.689

Cites: 16

Cited by: 1

Related to: 10