Einladung zum Vortrag im Kolloquium Technische Kybernetik

  Tube-Based Robust Nonlinear Model Predictive Control

Prof. em. Dr. David Mayne
Control and Power Research Group
Department of Electrical and Electronic Engineering
Imperial College London

Tuesday, 12. July 2011, 4:00 p.m.
IST-Seminar-Room 3.243 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen

Abstract

An extension of tube-based model predictive control to handle constrained nonlinear systems with additive distrurbances is presented. A central or reference trajectory is determined by solving a nominal optimal control problem. The local linear controller, employed in robust control of linear systems, is replaced by an ancillary model predictive controller that forces the trajectories of the disturbed system to lie in a tube whose centre is the reference trajectory therby enabling robust control of the uncertain nonlinear system to be achieved.

Biographical Information

Professor Mayne received the B.Sc. and M.Sc degrees in Engineering from the University of the Witwatersrand, the Ph.D. and D.Sc degrees from the University of London, and the degree of Doctor of Technology, honoris causa, from the University of Lund, Sweden. He has held posts at the University of the Witwatersrand, the British Thomson Houston Company, University of California, Davis and Imperial College London where he is now a Senior Research Investigator. He is a Fellow of the Royal Society, the Royal Academy of Engineering, IFAC, IEEE, and IET. His research interests include optimization, optimization based design, nonlinear control, model predictive control, and adaptive control.