Robust adaptive model predictive control with persistent excitation conditions

DOI10.1016/J.AUTOMATICA.2023.110959zbMATH Open1519.93074arXiv2211.09275MaRDI QIDQ6160765FDOQ6160765

Authors: Xiao-Nan Lu, Mark Cannon 

Publication date: 26 June 2023

Published in: Automatica (Search for Journal in Brave)

Abstract: For constrained linear systems with bounded disturbances and parametric uncertainty, we propose a robust adaptive model predictive control strategy with online parameter estimation. Constraints enforcing persistently exciting closed loop control actions are introduced for a set-membership parameter identification scheme. The algorithm requires the online solution of a convex program, satisfies constraints robustly, and ensures recursive feasibility and input-to-state stability. Almost sure convergence to the actual system parameters is demonstrated under assumptions on stabilizability, reachability, and tight disturbance bounds.

Full work available at URL: https://arxiv.org/abs/2211.09275

Recommendations

• Robust MPC with recursive model update
• Adaptive model predictive control for a class of constrained linear systems with parametric uncertainties
• Stabilizing predictive control with persistence of excitation for constrained linear systems
• Adaptive model predictive control for a class of constrained linear systems based on the comparison model
• Adaptive model predictive control for constrained nonlinear systems

zbMATH Keywords

model predictive controlconstrained systemsrobust adaptive controlpersistently exciting control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Attainable sets, reachability (93B03) Linear systems in control theory (93C05) Adaptive control/observation systems (93C40) Input-output approaches in control theory (93D25) Model predictive control (93B45)

Cites Work

• Set-theoretic methods in control
• Block recursive parallelotopic bounding in set membership identification
• Title not available (Why is that?)
• Model predictive control: recent developments and future promise
• Model predictive control suitable for closed-loop re-identification
• Persistence of excitation in linear systems
• Input-to-state stability: a unifying framework for robust model predictive control
• Provably safe and robust learning-based model predictive control
• Persistent excitation in adaptive systems
• Adaptive model predictive control for constrained nonlinear systems
• Model predictive control. Classical, robust and stochastic
• Persistency of excitation in continuous-time systems
• Adaptive receding horizon control for constrained MIMO systems
• Stabilizing predictive control with persistence of excitation for constrained linear systems
• Persistently exciting model predictive control
• Robust MPC with recursive model update
• Dual adaptive model predictive control
• Limited-complexity model-unfalsifying adaptive tracking-control
• Adaptive model predictive control of nonlinear systems with state-dependent uncertainties

Cited In (10)

• Robust and adaptive model predictive control of nonlinear systems
• Adaptive receding horizon control for constrained MIMO systems
• Robust adaptive MPC using control contraction metrics
• Adaptive robust MPC: a minimally-conservative approach
• Adaptive receding horizon predictive control for constrained discrete-time linear systems with parameter uncertainties
• Persistently exciting model predictive control
• Adaptive model predictive control for constrained nonlinear systems
• Robust adaptive MPC for constrained uncertain nonlinear systems
• Adaptive model predictive control for a class of constrained linear systems based on the comparison model
• A robust adaptive performance enhancement controller using set membership identification

This page was built for publication: Robust adaptive model predictive control with persistent excitation conditions

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6160765)