A robust model predictive control algorithm augmented with a reactive safety mode

@article{Carson2013ARM,
  title={A robust model predictive control algorithm augmented with a reactive safety mode},
  author={John M. Carson and Behçet Açikmese and Richard M. Murray and Douglas G. MacMartin},
  journal={Automatica},
  year={2013},
  volume={49},
  pages={1251-1260}
}
A reactive safety mode is built into a robust model predictive control algorithm for uncertain nonlinear systems with bounded disturbances. The algorithm enforces state and control constraints and blends two modes: (I) standard, guarantees re-solvability and asymptotic convergence in a robust recedinghorizonmanner; (II) safety, if activated, guarantees containmentwithin an invariant set about a reference. The reactive safety mode provides robustness to unexpected, but real-time anticipated… CONTINUE READING

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