Nonlinear reference tracking using robust MPC without computing all linearised models

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The presence of systems with polytopic disturbances in practice is highlighted through a novel reference tracking control method for nonlinear systems. The main steps are to obtain a polytopic linear difference inclusion description of the nonlinear system by linearising the system around the references to be followed using Taylor linearisation and to apply the proposed robust model predictive control method for systems with polytopic disturbances. Not all linearised models are constructed and the main advantage is that through convex combinations, every linearised model is used in the control law computations. The efficiency of the method is demonstrated in a 3D simulation for an aerial vehicle.