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A robust model predictive control algorithm augmented with a reactive safety mode

Carson, John M., III and Açıkmeşe, Behçet and Murray, Richard M. and MacMartin, Douglas G. (2013) A robust model predictive control algorithm augmented with a reactive safety mode. Automatica, 49 (5). pp. 1251-1260. ISSN 0005-1098.

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A reactive safety mode is built into a robust model predictive control algorithm for uncertain nonlinear systems with bounded disturbances. The algorithm enforces state and control constraints and blends two modes: (I) standard, guarantees re-solvability and asymptotic convergence in a robust receding-horizon manner; (II) safety, if activated, guarantees containment within an invariant set about a reference. The reactive safety mode provides robustness to unexpected, but real-time anticipated, state-constraint changes during standard mode operation. The safety-mode control policy is designed offline and can be activated at any arbitrary time. The standard-mode control has feedforward and feedback components: feedforward is from online solution of a finite-horizon optimal control problem; feedback is designed offline to provide robustness to system uncertainty and disturbances and to establish an invariant “state tube” that guarantees standard-mode re-solvability at any time. The algorithm design is shown for a class of systems with incrementally-conic uncertain/nonlinear terms and bounded disturbances.

Item Type:Article
Related URLs:
URLURL TypeDescription
Murray, Richard M.0000-0002-5785-7481
MacMartin, Douglas G.0000-0003-1987-9417
Additional Information:© 2013 Elsevier Ltd. © 2013 California Institute of Technology. Government sponsorship acknowledged. Received 29 November 2010; Received in revised form 21 July 2012; Accepted 12 November 2012; Available online 16 March 2013. This research was funded by AFOSR MURI grant FA9550-06-1-0303 and JPL internal R&D. The material in this paper was partially presented at the 17th IFAC World Congress, July 6–11, 2008, Seoul, South Korea. This paper was recommended for publication in revised form by Associate Editor Dragan Nesic under the direction of Editor Andrew R. Teel. Publication support was provided by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-06-1-0303
JPL Internal Research and Technology Development ProgramUNSPECIFIED
Subject Keywords:Model predictive control; Receding horizon control; Safety mode; Linear matrix inequalities; Robust nonlinear control
Issue or Number:5
Record Number:CaltechAUTHORS:20130709-103021335
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Official Citation:John M. Carson III, Behçet Açıkmeşe, Richard M. Murray, Douglas G. MacMartin, A robust model predictive control algorithm augmented with a reactive safety mode, Automatica, Volume 49, Issue 5, May 2013, Pages 1251-1260, ISSN 0005-1098,
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:39267
Deposited By: Tony Diaz
Deposited On:10 Jul 2013 17:34
Last Modified:03 Oct 2019 05:05

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