Tesis doctoral de Jian Wan
The essence of mpc is to avoid solving the hamilton-jacobi-bellman equation by repetitively solving an open-loop optimal control problem instead, which offers the significant ability to treat input and state constraints explicitly at each step. Additional contractive constraint is usually needed to be incorporated into the open-loop optimization for guaranteeing the stability of the closed-loop system. The resulting online constrained optimization must be fulfilled within the time constraint imposed by the sampling time of an application. Thus computational reliability and efficiency are two critical issues in applying mpc, especially in applying nonlinear mpc, where normally complex nonlinear programming problems are concerned. The thesis aims to explore computationally reliable and efficient approaches of contractive mpc for discrete-time systems. Two types of contractive mpc have been studied: mpc with compulsory contractive constraint and mpc with a contractive sequence of controllable sets. Techniques based on convex optimization and interval analysis are applied to deal with linear and nonlinear contractive mpc, respectively. Classical interval analysis is extended to zonotopes in geometry for designing a terminal control invariant set in the dual-mode approach of mpc. It is also extended to modal intervals in modality for computing robust controllable sets with a clear semantic interpretation. The tools of convex optimization and interval analysis have been combined further to improve the efficiency of contractive mpc for various kinds of constrained nonlinear uncertain discrete-time systems. Finally, the addressed two types of contractive mpc have been applied to control a micro robot world cup soccer tournament (mirosot) robot and a continuous stirred-tank reactor (cstr), respectively.
Datos académicos de la tesis doctoral «Computationally reliable approaches of contractive mpc for discrete-time systems«
- Título de la tesis: Computationally reliable approaches of contractive mpc for discrete-time systems
- Autor: Jian Wan
- Universidad: Girona
- Fecha de lectura de la tesis: 30/07/2007
Dirección y tribunal
- Director de la tesis
- Josep Vehi
- Tribunal
- Presidente del tribunal: José Rodellar Benedé
- Luc Jaulin (vocal)
- Eduardo Camacho (vocal)
- Eric Kerrigan (vocal)