Abstract
This paper proposes a generalized robust predictive control approach based on 3rd order S-PARAFAC Volterra Model. The main idea is to use the predictive control law based on the latter model with taking into account the parameter and operation uncertainties resulting from the measurement noise and the robust identification technique named Unknown But Bounded Error (UBBE). One of the advantages is the convexity of the objective function with respect to the parameter uncertainty set. The min-max optimization problem becomes thus simpler, by minimizing the objective function in the worst-case only over the set of uncertain models. This work proposes a new generalized nonlinear robust control algorithm dedicated for uncertain processes. In this algorithm we optimize a quadratic criterion and take into account the physical and geometrical constraints due to parameter uncertainties. The performances of this work are illustrated and validated on a benchmark as a continuous stirred-tank reactor system (CSTR) and on an experimental 2-DoF helicopter system.
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Anis Khouaja was born in 1975 in Sousse in Tunisia. In 2000, he received his B.Eng. degree from the National Engineering School of Monastir (ENIM) in Tunisia. Respectively in 2001 and 2005, he received an M.Sc. and Ph.D. degrees from the University of Nice Sophia Antipolis in France. He received in 2016, a Habilitation degree in Electrical Engineering from the University of Sousse in Tunisia. Currently, he is an Associate Professor in the Electrical Engineering Department, High Institute of Applied Science and Technology of Sousse, Tunisia. He is also a member of the LARATSI Laboratory of the Engineering National School of Monastir in Tunisia. His research interests include system modeling and identification, nonlinear system theory and robust predictive control.
Tarek Garna was born in 1978 in Sousse, Tunisia. He received his Ph.D. degree in Automatic Control from the National Engineering School of Monastir, in 2009. He received a Habilitation degree in Electrical Engineering from the University of Sousse in Tunisia, in June 2015. He is presently an Assistant Professor at the Higher Institute of Applied Sciences and Technology of Sousse and a member of the laboratory LARATSI. His research interests include system modeling and identification, nonlinear system theory and robust predictive control.
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Anis, K., Tarek, G. An Improved Robust Predictive Control Approach Based on Generalized 3rd Order S-PARAFAC Volterra Model Applied to a 2-DoF Helicopter System. Int. J. Control Autom. Syst. 19, 1618–1632 (2021). https://doi.org/10.1007/s12555-019-0936-1
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DOI: https://doi.org/10.1007/s12555-019-0936-1