Robust receding horizon predictive control for systems with uncertain dynamics and input saturation (Q5926283)

A robust receding horizon predictive control (RRHPC) strategy which stabilizes input constrained systems with polytopic uncertainty is proposed. A polyhedral set of states which is robustly invariant with respect to a state feedback control is introduced. The one-step-ahead feasible strategy steers the state successively through polyhedral sets to a polyhedral invariant target set in \(N\) predicted control moves, which are optimized over the horizon \(N\). It is shown that for a given feedback law, the existence of invariant sets can be checked either by considering all corners of the uncertain polytopes or by the Perron-Frobenius norm of an appropriate matrix. To guarantee that the predicted terminal state belongs to the feasible invariant set the bounds on future state trajectories are obtained and linear inequalities for the corners of uncertainty polytopes are defined. The RRHPC algorithm allows considerable enlargement of stabilizable initial conditions and provides extra degrees of freedom to improve the performance. The efficacy of RRHCP is illustrated by means of a numerical example.