Model Predictive Control: Robustness and Time Delays
Abstract:
In this presentation the role of robustness and time delays in nonlinear model predictive control will be explored. In the first part of the talk an approach to robustness will be presented that is based on a computationally attractive prediction of nominal trajectories in combination with the application of an auxiliary control law that assures that the actual trajectory will remain in a robust invariant set around the nominal trajectory. It will be shown that the closed loop is ultimately bounded and ISS.
In the second part of the talk a nonlinear model predictive control scheme with guaranteed stability will be presented for nonlinear time-delay systems. The approach is an extension of the quasi-infinite horizon scheme with suitably chosen terminal regions. Three approaches based on Lyapunov-Krasovskii arguments, Lyapunov-Razumikhin arguments and a combination of the two will be presented. It will be shown that the closed loop is guaranteed to be stable and that the presented approaches are computationally less demanding than other schemes for this class of systems. Finally, connections to distributed MPC will be discussed.
Biography:
Frank Allgower is director of the Institute for Systems Theory and Automatic Control at the University of Stuttgart in Germany. He studied Engineering Cybernetics and Applied Mathematics in Stuttgart and at the University of California at Los Angeles (UCLA) respectively and received his Ph.D. degree from the University of Stuttgart. Prior to his present appointment he held a professorship in the electrical engineering department at ETH Zurich and visiting positions at Caltech, the NASA Ames Research Center, the DuPont Company and the University of California at Santa Barbara.
Frank Allgower's main research interests are in the area of systems and control with emphasis on the development of new methods for the analysis and control of nonlinear systems. Application interests range from control of mechatronic systems to the new field of systems biology.
At present Frank Allgower is Editor for the journal Automatica and serves as Associate Editor or on the editorial board of several further journals. He is on the scientific council of the German Society for Measurement and Control, is on the Council of the International Federation of Automatic Control (IFAC), and is chairman of the International Affairs Committee of the IEEE Control System Society. He received several recognitions for his work including the IEEE distinguished lectureship, the appointment as IFAC Fellow, the Landeslehrpreis Baden-Wuerttemberg, several best paper awards and the Leibniz prize awarded by the Deutsche Forschungsgemeinschaft.