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

Abstract

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… (More)
DOI: 10.1016/j.automatica.2013.02.025

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