Performance bounds of adaptive MPC with bounded parameter uncertainties
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Abstract: Model predictive control is a control approach that minimizes a stage cost over a predicted system trajectory based on a model of the system and is capable of handling state and input constraints. For uncertain models, robust or adaptive methods can be used. Because the system model is used to calculate the control law, the closed-loop behavior of the system and thus its performance, measured by the sum of the stage costs, are related to the model used. If it is adapted online, a performance bound is difficult to obtain and thus the impact of model adaptation is mostly unknown. This work provides a (worst-case) performance bound for a linear adaptive predictive control scheme with a specific model parameter estimation. The proposed bound is expressed in terms of quantities such as the initial system parameter error and the constraint set, among others and can be calculated a priori. The results are discussed in a numerical example.
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Cited in
(6)- Worst-case formulations of model predictive control for systems with bounded parameters
- Robust and stable predictive control with bounded uncertainties
- Performance lower bounds in stochastic robust and adaptive control
- Directly computable L2 and L∞ performance bounds for morse's dynamic certainty equivalence adaptive controller
- Analytical performance prediction for robust constrained model predictive control
- Tube-MPC based lane change trajectory tracking for semi-trailers in high-speed scenarios
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