Fully parameterized tube MPC

Journal article

Reaching a sensible compromise between computational tractability and degree of optimality still remains a significant challenge in robust model predictive control (MPC). Tube MPC offers an efficient approach which is based on pseudo-closed loop optimization but can thus be conservative. The degree of conservatism is reduced through the so-called disturbance affine control policy and it is the aim of this paper to propose a new methodology that deploys a more general policy thereby improving on system theoretic properties yet is no more computationally intensive. The work is based on a suitable parameterization of state and control tubes and is underpinned by guarantees of strong system theoretic properties. © 2011 IFAC.

Authors: Raković, S; Kouvaritakis, B; Cannon, M; Panos, C; Findeisen, R

• Journal: IFAC Proceedings Volumes (IFAC-PapersOnline)
• Volume: 18
• Issue: PART 1
• Pages: 197-202
• Publication date: 2011-01-01
• DOI: 10.3182/20110828-6-IT-1002.03110
• ISSN: 1474-6670
• Language: English
• Keywords: Tube model predictive control; Set-dynamics; Parameterized tubes