Improved Prediction Dynamics for Robust MPC
Hoai‐Nam Nguyen
Abstract
This article proposes a new model predictive control (MPC) control scheme for polytopic uncertain and/or time-varying systems with state and input constraints. The MPC policies we consider employ: 1) the intersection of ellipsoids to characterize the domain of attraction, 2) a time-varying Lyapunov function to bound from above the cost function, 3) a tailored alternating direction method of multipliers algorithm to solve efficiently the online optimization problem. With respect to other well-known techniques, the main advantage of the new approach is the reduced conservativeness.
Topics & Concepts
Model predictive controlIntersection (aeronautics)Control theory (sociology)EllipsoidDomain (mathematical analysis)Computer scienceLyapunov functionMathematical optimizationFunction (biology)MathematicsControl (management)EngineeringArtificial intelligenceNonlinear systemBiologyAerospace engineeringPhysicsQuantum mechanicsAstronomyMathematical analysisEvolutionary biologyAdvanced Control Systems OptimizationControl Systems and IdentificationFault Detection and Control Systems