Robust and adaptive model predictive control of non-linear systems / Martin Guay, Veronica Adetola and Darryl DeHaan.

Format:

Book

Author/Creator:

Guay, Martin, author.

Adetola, Veronica, author.

DeHaan, Darryl, author.

Series:

IET Control, Robotics and Sensors Series ; 83

Language:

English

Subjects (All):

Adaptive control systems.

Predictive control.

Physical Description:

1 online resource (269 p.)

Edition:

1st ed.

Place of Publication:

London, England : The Institution of Engineering and Technology, 2016.

System Details:

Mode of access: World Wide Web.

Summary:

This book offers a novel approach to adaptive control and provides a sound theoretical background to designing robust adaptive control systems with guaranteed transient performance. It focuses on the more typical role of adaptation as a means of coping with uncertainties in the system model. Topics covered include an introduction to the subject; a minimally conservative perspective; an eye towards computational simplicity; estimation in adaptive control; performance improvement in adaptive control; and robust adaptive model predictive control for systems with exogeneous disturbances. This is essential reading for academics and advanced students working in control theory and applications.

Contents:

Contents; List of figures; List of tables; Acknowledgments; 1. Introduction; 2. Optimal control; 2.1 Emergence of optimal control; 2.2 MPC as receding-horizon optimization; 2.3 Current limitations in MPC; 2.4 Notational and mathematical preliminaries; 2.5 Brief review of optimal control; 3. Review of nonlinear MPC; 3.1 Sufficient conditions for stability; 3.2 Sampled-data framework; 3.3 Computational techniques; 3.4 Robustness considerations; 4. A real-time nonlinear MPC technique; 4.1 Introduction; 4.2 Problem statement and assumptions; 4.3 Preliminary results

4.4 General framework for real-time MPC4.5 Flow and jump mappings; 4.6 Computing the real-time update law; 4.7 Simulation examples; 4.8 Summary; 4.9 Proofs for Chapter 4; 5. Extensions for performance improvement; 5.1 General input parameterizations, and optimizing time support; 5.2 Robustness properties in overcoming locality; 6. Introduction to adaptive robust MPC; 6.1 Review of NMPC for uncertain systems; 6.2 An adaptive approach to robust MPC; 6.3 Minimally conservative approach; 6.4 Adaptive robust controller design framework; 6.5 Computation and performance issues; 6.6 Robustness issues

6.7 Example problem6.8 Conclusions; 6.9 Proofs for Chapter 6; 7. Computational aspects of robust adaptive MPC; 7.1 Problem description; 7.2 Adaptive robust design framework; 7.3 Internal model of the identifier; 7.4 Incorporating asymptotic filters; 7.5 Simulation example; 7.6 Summary; 7.7 Proofs for Chapter 7; 8 Finite-time parameter estimation in adaptive control; 8.1 Introduction; 8.2 Problem description and assumptions; 8.3 FT parameter identification; 8.4 Robustness property; 8.5 Dither signal design; 8.6 Simulation examples; 8.7 Summary; 9. Performance improvement in adaptive control

9.1 Introduction9.2 Adaptive compensation design; 9.3 Incorporating adaptive compensator for performance improvement; 9.4 Dither signal update; 9.5 Simulation example; 9.6 Summary; 10. Adaptive MPC for constrained nonlinear systems; 10.1 Introduction; 10.2 Problem description; 10.3 Estimation of uncertainty; 10.4 Robust adaptive MPC-a min-max approach; 10.5 Robust adaptive MPC-a Lipschitz-based approach; 10.6 Incorporating FTI; 10.7 Simulation example; 10.8 Conclusions; 10.9 Proofs of main results; 11. Adaptive MPC with disturbance attenuation; 11.1 Introduction; 11.2 Revised problem set-up

11.3 Parameter and uncertainty set estimation11.4 Robust adaptive MPC; 11.5 Closed-loop robust stability; 11.6 Simulation example; 11.7 Conclusions; 12. Robust adaptive economic MPC; 12.1 Introduction; 12.2 Problem description; 12.3 Set-based parameter estimation routine; 12.4 Robust adaptive economic MPC implementation; 12.5 Simulation example; 12.6 Conclusions; 13. Set-based estimation in discrete-time systems; 13.1 Introduction; 13.2 Problem description; 13.3 FT parameter identification; 13.4 Adaptive compensation design; 13.5 Parameter uncertainty set estimation; 13.6 Simulation examples

13.7 Summary

Notes:

Description based upon print version of record.

Includes bibliographical references and index.

Description based on online resource; title from PDF title page (ebrary, viewed January 25, 2016).

ISBN:

1-5231-0104-0

1-84919-553-6