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Robust tube MPC for linear systems with multiplicative uncertainty

Robust tube MPC for linear systems with multiplicative uncertainty
Robust tube MPC for linear systems with multiplicative uncertainty
Recently, a technical note [4] ensured recursive feasibility in robust model predictive control with multiplicative uncertainty by applying terminal constraints to the degrees of freedom available to the controller while constructing polytopic tube cross sections. The current note extends this technique by bounding the tube parameters in norm and constructing a terminal set based on this bound. This reduces the online computational load and so allows longer prediction horizons to be used.
0018-9286
1087-1092
Fleming, James
b59cb762-da45-43b1-b930-13dd9f26e148
Kouvaritakis, Basil
ae3159e2-f89e-4907-89ec-3127049716ba
Cannon, Mark
d2a52d25-9100-4a93-9bc7-8d10f4f3fa17
Fleming, James
b59cb762-da45-43b1-b930-13dd9f26e148
Kouvaritakis, Basil
ae3159e2-f89e-4907-89ec-3127049716ba
Cannon, Mark
d2a52d25-9100-4a93-9bc7-8d10f4f3fa17

Fleming, James, Kouvaritakis, Basil and Cannon, Mark (2014) Robust tube MPC for linear systems with multiplicative uncertainty. IEEE Transactions on Automatic Control, 60 (4), 1087-1092. (doi:10.1109/TAC.2014.2336358).

Record type: Article

Abstract

Recently, a technical note [4] ensured recursive feasibility in robust model predictive control with multiplicative uncertainty by applying terminal constraints to the degrees of freedom available to the controller while constructing polytopic tube cross sections. The current note extends this technique by bounding the tube parameters in norm and constructing a terminal set based on this bound. This reduces the online computational load and so allows longer prediction horizons to be used.

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More information

Published date: 8 July 2014

Identifiers

Local EPrints ID: 422580
URI: http://eprints.soton.ac.uk/id/eprint/422580
DOI: doi:10.1109/TAC.2014.2336358
ISSN: 0018-9286
PURE UUID: 7a36dcaf-0fee-47ef-9d62-f4c9de7e2f2a
ORCID for James Fleming: ORCID iD orcid.org/0000-0003-2936-4644

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Date deposited: 25 Jul 2018 16:30
Last modified: 15 Mar 2024 20:14

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Author: James Fleming ORCID iD
Author: Basil Kouvaritakis
Author: Mark Cannon

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