Robust discrete-time set-based adaptive predictive control for nonlinear systems

• This paper proposes a robust adaptive nonlinear model predictive control design techniques for discrete-time nonlinear control systems. • A new set-based adaptive estimation routine is proposed to estimate the unknown parameters. • A proof of robust stability is presented for a minmax robust adapt...
Ausführliche Beschreibung

• This paper proposes a robust adaptive nonlinear model predictive control design techniques for discrete-time nonlinear control systems. • A new set-based adaptive estimation routine is proposed to estimate the unknown parameters. • A proof of robust stability is presented for a minmax robust adaptive nonlinear model predictive control framework. • A Lipschitz-based approximation approach is used to remove the need for a minmax formulation. • A nonisothermal CSTR problem and a chemotherapy control problem are effectively solved with the design methodology. Ausführliche Beschreibung