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An active set solver for input-constrained robust receding horizon control

Abstract:

An efficient optimization procedure is proposed for computing a receding horizon control law for linear systems with constrained control inputs and additive disturbances. The procedure uses an active set method to solve the dynamic programming problem associated with the min-max optimization of a predicted cost. The active set at the solution is determined at each sampling instant as a function of the current system state using the first-order necessary conditions for optimality. The computat...

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Publication status:
Published

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Publisher copy:
10.1109/CDC.2011.6161409

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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Role:
Author
Pages:
7931-7936
Publication date:
2011-01-01
DOI:
ISSN:
0191-2216
URN:
uuid:969d0af6-d9a2-40f2-8007-34e433b61b40
Source identifiers:
335024
Local pid:
pubs:335024
ISBN:
9781612848006

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