Nonlinear Predictive Control Using Constraints Satisfaction

摘要

This paper introduces a nonlinear control approach associated with interval analysis. The guaranteed state estimation techniques have been demonstrated to be inappropriate. Therefore, an inner bounding state estimation method for continuous systems has been presented. The complete simulation results show the efficiency and the robustness of the proposed method. Future work will concern the following two points. Firstly, the computational efficiency improvement by taking into account contraction procedure based on constraints propagation. Secondly, the characterisation of the inner approximation of the state in order to compute input boxes satisfying the constraints completely.