Design of a robust model predictive control for uncertain non-linear systems with L2- disturbances
الموضوعات :Hamid Malekizadeh 1 , reza soleymani 2
1 - Imam Khomeini Maritime Sciences University, Nowshahr, Mazandaran, Iran
2 - Department of Electrical Engineering, Science and Research, Islamic Azad University, Tehran, Iran.
الکلمات المفتاحية: robust model predictive control, L2- disturbances, non-linear fin-roll model,
ملخص المقالة :
The present study aims to design a robust model predictive control with L2- disturbances for the systems with model uncertainty, constraints, and disturbances. A Lipschitz non-linear function is used in order to represent the approximation error which is considered as an unstructured uncertainty. The ability to suppress disturbances is added as a L2- gain performance. The problems of constraints, robust stability of the closed loop system, and suppressing disturbances are formulated as constrained optimization problems. All these constraints are shown to be equivalent to LMIs, and the optimization problem is solved accordingly. Model stability is also guaranteed by the Lyapunov function employed in controller design. In order to validate the proposed algorithm, it is employed to the non-linear fin-roll model of the fishing boat in the presence of waves disturbance. Results show the superiority of the designed controller based on L2- gain over conventional RMPC and PID controller.
