IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robust extended Kalman filter based nonlinear model predictive control formulation

2009 Joint 48th IEEE Conference on Decision and Control (CDC) and 28th Chinese Control Conference (CCC)

Author(s): Rui Huang ; Patwardhan, S.C. ; Biegler, L.T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2009
Conference Location: Shanghai, China, China
Conference Date: 15 December 2009
Page(s): 8,046 - 8,051
ISBN (CD): 978-1-4244-3872-3
ISBN (Paper): 978-1-4244-3871-6
ISSN (CD): 0191-2216
ISSN (Paper): 0191-2216
DOI: 10.1109/CDC.2009.5400421
Regular:

The analysis of the EKF error sequence in [1] is expanded to the case with non-vanishing perturbations. The robust stability of NMPC and EKF pair is established. In addition, we propose an... View More

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