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Learning-based nonlinear model predictive control with accurate uncertainty compensation
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Xie, Jingjie, Xiaowei, Zhao and Hongyang, Dong (2021) Learning-based nonlinear model predictive control with accurate uncertainty compensation. Nonlinear Dynamics, 104 . pp. 3827-3843. doi:10.1007/s11071-021-06522-z ISSN 0924-090X.
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Official URL: https://doi.org/10.1007/s11071-021-06522-z
Abstract
A learning-based nonlinear model predictive control (LBNMPC) method is proposed in this paper for general nonlinear systems under system uncertainties and subject to state and input constraints. The proposed LBNMPC strategy decouples the robustness and performance requirements by employing an additional learned model and introducing it into the MPC framework along with the nominal model. The nominal model helps to ensure the closed-loop system’s safety and stability, and the learned model aims to improve the tracking behaviors. As a core of the learned model construction, an online parameter estimator is designed to deal with system uncertainties. This estimation process effectively evaluates both the current and historical effects of uncertainties, leading to superior estimating performance compared with conventional methods. By constructing an invariant terminal constraint set, we prove that the LBNMPC is recursively feasible and robustly asymptotically stable. Numerical verifications for a two-link manipulator are conducted to validate the effectiveness and robustness of the proposed control scheme.
Item Type: | Journal Article | ||||||||
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Subjects: | Q Science > Q Science (General) Q Science > QA Mathematics T Technology > TA Engineering (General). Civil engineering (General) T Technology > TJ Mechanical engineering and machinery |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > Engineering | ||||||||
Library of Congress Subject Headings (LCSH): | Predictive control, Nonlinear control theory, Reinforcement learning , Adaptive control systems, Parameter estimation | ||||||||
Journal or Publication Title: | Nonlinear Dynamics | ||||||||
Publisher: | Springer | ||||||||
ISSN: | 0924-090X | ||||||||
Official Date: | June 2021 | ||||||||
Dates: |
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Volume: | 104 | ||||||||
Page Range: | pp. 3827-3843 | ||||||||
DOI: | 10.1007/s11071-021-06522-z | ||||||||
Status: | Peer Reviewed | ||||||||
Publication Status: | Published | ||||||||
Access rights to Published version: | Open Access (Creative Commons) | ||||||||
Date of first compliant deposit: | 26 May 2021 | ||||||||
Date of first compliant Open Access: | 27 May 2021 | ||||||||
RIOXX Funder/Project Grant: |
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