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Finding an optimal control strategy for a nonlinear uncertain system is a challenging problem in the area of nonlinear controller design. In this paper, a two-level control algorithm is developed for robust optimal control of large-scale nonlinear systems. For this purpose, using a decomposition/coordination framework, the large-scale nonlinear system is first decomposed into several smaller subsystems,...
Metric Temporal Logic (MTL) specifications can capture complex state and timing requirements. Given a nonlinear dynamical system and an MTL specification for that system, our goal is to find a trajectory that violates or satisfies the specification. This trajectory can be used as a concrete feedback to the system designer in the case of violation or as a trajectory to be tracked in the case of satisfaction...
This paper proposes a robust model predictive control scheme for nonlinear systems with state and input constraints and unknown but bounded disturbances. A standard nominal model predictive control problem with tightened constraints is solved online, and its solution defines the nominal trajectory. An ancillary control law is determined off-line which keeps the trajectories of the error system in...
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