Regions of attraction and recursive feasibility in robust MPC
Regions of attraction and recursive feasibility in robust MPC
For linear systems with multiplicative uncertainty, a formulation of robust model predictive control in a lifted space is given and is proven to give better or equal performance to any tube MPC approach that uses the same parametrisation of the input. Then a tube MPC controller is formulated that ensures recursive feasibility through the use of terminal sets in the degrees of freedom available to the controller. This is shown to give performance comparable to the lifted approach while avoiding an exponential growth in computation.
Multiplicative Uncertainty, MPC, Robust MPC, Predictive Control, Region of Attraction
801-806
Fleming, James
b59cb762-da45-43b1-b930-13dd9f26e148
Kouvaritakis, Basil
ae3159e2-f89e-4907-89ec-3127049716ba
Cannon, Mark
d2a52d25-9100-4a93-9bc7-8d10f4f3fa17
30 September 2013
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
(2013)
Regions of attraction and recursive feasibility in robust MPC.
In 21st Mediterranean Conference on Control and Automation.
IEEE.
.
(doi:10.1109/MED.2013.6608815).
Record type:
Conference or Workshop Item
(Paper)
Abstract
For linear systems with multiplicative uncertainty, a formulation of robust model predictive control in a lifted space is given and is proven to give better or equal performance to any tube MPC approach that uses the same parametrisation of the input. Then a tube MPC controller is formulated that ensures recursive feasibility through the use of terminal sets in the degrees of freedom available to the controller. This is shown to give performance comparable to the lifted approach while avoiding an exponential growth in computation.
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Published date: 30 September 2013
Keywords:
Multiplicative Uncertainty, MPC, Robust MPC, Predictive Control, Region of Attraction
Identifiers
Local EPrints ID: 422582
URI: http://eprints.soton.ac.uk/id/eprint/422582
PURE UUID: 35d167ef-96ba-4191-9cfe-4c379f31faaf
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Date deposited: 25 Jul 2018 16:30
Last modified: 15 Mar 2024 21:27
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Contributors
Author:
James Fleming
Author:
Basil Kouvaritakis
Author:
Mark Cannon
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