Transactions on Control, Automation and Systems Engineering

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Robust Predictive Control of Uncertain Nonlinear System With Constrained Input

  • Son, Won-Kee (School of Electrical Engr., ASRI, Seoul National University) ;
  • Park, Jin-Young (School of Electrical Engr., ASRI, Seoul National University) ;
  • Kwon, Oh-Kyu (School of Electrical and Computer Engineering, Inha University)
  • 발행 : 2002.12.01
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초록

In this paper, a linear matrix inequality(LMI)-based robust control method, which combines model predictive control(MPC) with the feedback linearization(FL), is presented for constrained nonlinear systems with parameter uncertainty. The design procedures consist of the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL into constraint on new input of linearized system, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.

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참고문헌

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