Explicit use of probabilistic distributions in robust predictive control of waterborne AGVs-A cost-effective approach

Huarong Zheng, Rudy R. Negenborn, G. Lodewijks

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a novel cost-effective robust Model Predictive Control (RMPC) approach that can handle stochastic uncertainties with infinite support. The robust controller is developed by explicitly considering system and uncertainty properties and is applied to waterborne AGVs against environmental disturbances due to wind, waves, and currents. Specifically, probabilistic distributions are modeled and integrated in tube-based RMPC with optimized uncertainty bounds. Furthermore, successive linearizations of nonlinear system dynamics and non-convex constraints are implemented for ease of computational complexity and the robust design. Simulation results are presented to demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Title of host publicationProceedings 2016 European Control Conference
EditorsA Rantzer, J Stoustrup, J Bagterp Jorgensen
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1278-1283
ISBN (Electronic)9781509025916
DOIs
Publication statusPublished - 2016
Event2016 European Control Conference, ECC 2016: 15th annual European Control Conference - Aalborg, Denmark
Duration: 29 Jun 20161 Jul 2016
http://www.ecc16.eu/index.shtml

Conference

Conference2016 European Control Conference, ECC 2016
Abbreviated titleECC'16
CountryDenmark
CityAalborg
Period29/06/161/07/16
Internet address

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