{"id":"https://openalex.org/W4405599208","doi":"https://doi.org/10.1109/tase.2024.3515172","title":"Robust Model Predictive Control for Nonlinear Systems With Incremental Control Input Constraints","display_name":"Robust Model Predictive Control for Nonlinear Systems With Incremental Control Input Constraints","publication_year":2024,"publication_date":"2024-12-19","ids":{"openalex":"https://openalex.org/W4405599208","doi":"https://doi.org/10.1109/tase.2024.3515172"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3515172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3515172","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086375971","display_name":"Fang-Jiao Zhao","orcid":"https://orcid.org/0000-0002-6056-3054"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fang-Jiao Zhao","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103269969","display_name":"Yongfeng Gao","orcid":"https://orcid.org/0000-0002-8762-4072"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong-Feng Gao","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074231575","display_name":"Xuefang Wang","orcid":"https://orcid.org/0000-0001-8104-4408"},"institutions":[{"id":"https://openalex.org/I153648349","display_name":"University of Leicester","ror":"https://ror.org/04h699437","country_code":"GB","type":"education","lineage":["https://openalex.org/I153648349"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Xue-Fang Wang","raw_affiliation_strings":["School of Engineering, University of Leicester, Leicester, U.K"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Leicester, Leicester, U.K","institution_ids":["https://openalex.org/I153648349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101434406","display_name":"Hong Gu","orcid":"https://orcid.org/0000-0002-8224-146X"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hao-Yuan Gu","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109782886","display_name":"Xi-Ming Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xi-Ming Sun","raw_affiliation_strings":["School of Control Science and Engineering, Dalian University of Technology, Dalian, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086375971"],"corresponding_institution_ids":["https://openalex.org/I27357992"],"apc_list":null,"apc_paid":null,"fwci":0.3252,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.61896282,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"22","issue":null,"first_page":"9983","last_page":"9993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.988099992275238,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9391000270843506,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.8604167103767395},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5926513671875},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5663045644760132},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.555508017539978},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.516272783279419},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4720008373260498},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.45007777214050293},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.446023166179657},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40305712819099426},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3135380148887634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17210200428962708}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8604167103767395},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5926513671875},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5663045644760132},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.555508017539978},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.516272783279419},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4720008373260498},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.45007777214050293},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.446023166179657},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40305712819099426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3135380148887634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17210200428962708},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2024.3515172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3515172","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/29086409","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/29086409","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4057372987","display_name":null,"funder_award_id":"62173060","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1991555527","https://openalex.org/W2038137192","https://openalex.org/W2041109651","https://openalex.org/W2078150235","https://openalex.org/W2099441085","https://openalex.org/W2110703708","https://openalex.org/W2115562234","https://openalex.org/W2168027532","https://openalex.org/W2488832058","https://openalex.org/W2593550575","https://openalex.org/W2610729215","https://openalex.org/W2742432427","https://openalex.org/W2783122671","https://openalex.org/W2921676169","https://openalex.org/W3007985585","https://openalex.org/W3013679533","https://openalex.org/W3031763985","https://openalex.org/W3089188059","https://openalex.org/W3091357242","https://openalex.org/W3169981030","https://openalex.org/W3183782021","https://openalex.org/W3212274512","https://openalex.org/W4200434502","https://openalex.org/W4205818484","https://openalex.org/W4211147054","https://openalex.org/W4211251256","https://openalex.org/W4212979708","https://openalex.org/W4285814203","https://openalex.org/W4312626272","https://openalex.org/W4312944233","https://openalex.org/W4386820740","https://openalex.org/W4392208050","https://openalex.org/W4398226259","https://openalex.org/W4401536612"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"This":[0,154],"paper":[1,155],"presents":[2],"a":[3,27,79,165,217],"robust":[4],"model":[5,136],"predictive":[6,137],"control":[7,20,77,98,121,127,134,138,150,164,234],"(RMPC)":[8],"algorithm":[9,66,193,243],"for":[10,57,119,204],"nonlinear":[11,169],"discrete-time":[12],"systems":[13,170,247],"subject":[14],"to":[15,92,107,143,163,244],"bounded":[16],"disturbances":[17,50,145,175],"and":[18,72,96,116,146,152,176,194,213,248,256],"incremental":[19,120],"input":[21,122,177],"constraints.":[22,178],"To":[23],"guarantee":[24],"recursive":[25],"feasibility,":[26],"terminal":[28],"inequality":[29],"constraint":[30,40],"is":[31,67,140,209],"integrated":[32],"into":[33,183],"the":[34,53,58,64,76,86,89,101,111,117,126,172,184,191,195,225,242],"proposed":[35,65,90,207],"RMPC":[36,159,192],"algorithm.":[37],"By":[38],"employing":[39],"tightening":[41],"techniques,":[42],"we":[43,180],"derive":[44],"an":[45,157],"upper":[46,196],"bound":[47],"on":[48,240],"admissible":[49],"that":[51,224],"ensures":[52],"input-to-state":[54],"stability":[55,95,230],"(ISS)":[56],"closed-loop":[59],"system.":[60],"The":[61,83,206,221],"effectiveness":[62],"of":[63,78,88,103,113,168,174,190,198],"validated":[68,210],"through":[69,211],"numerical":[70],"simulations":[71,212],"practical":[73,109,202,214],"experiments":[74,215],"involving":[75],"four-wheel":[80],"mobile":[81,219],"robot.":[82,220],"results":[84,222],"demonstrate":[85],"capability":[87],"method":[91,160,208],"maintain":[93],"system":[94,128,229],"optimize":[97],"performance":[99],"in":[100,171],"presence":[102,173],"external":[104,114],"disturbances.":[105],"Note":[106],"Practitioners\u2014In":[108],"engineering,":[110],"prevalence":[112],"perturbations":[115],"necessity":[118],"constraints":[123],"significantly":[124],"complicate":[125],"design":[129,188],"process.":[130],"Compared":[131],"with":[132,216],"traditional":[133],"methodologies,":[135],"(MPC)":[139],"better":[141],"equipped":[142],"address":[144],"constraints,":[147],"achieving":[148],"enhanced":[149,158],"accuracy":[151],"safety.":[153],"introduces":[156],"specifically":[161],"designed":[162],"broad":[166],"class":[167],"Additionally,":[179],"provide":[181],"insights":[182],"relationship":[185],"between":[186],"specific":[187],"parameters":[189],"bounds":[197],"permissible":[199],"disturbances,":[200],"offering":[201],"guidelines":[203],"implementation.":[205],"four-wheeled":[218],"confirm":[223],"approach":[226],"reliably":[227],"maintains":[228],"while":[231],"efficiently":[232],"optimizing":[233],"inputs.":[235],"Future":[236],"work":[237],"will":[238],"focus":[239],"extending":[241],"potential":[245],"robotic":[246],"exploring":[249],"alternative":[250],"disturbance-handling":[251],"methods,":[252],"such":[253],"as":[254],"observer-based":[255],"set-membership":[257],"approaches.":[258]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}