Robust MPC for LPV systems via a novel optimization-based constraint tightening

DOI10.1016/J.AUTOMATICA.2022.110459MaRDI QIDQ2159001zbMATH OpenOpenAlexFDO

Authors Monimoy Bujarbaruah, Ugo Rosolia, Yvonne Stürz, Francesco Borrelli, Xiao-Jing Zhang

Publication date 26 July 2022

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2007.00930

zbMATH Keywords

convex optimizationlinear systemsparametric model uncertaintyrobust MPC

Mathematics Subject Classification ID

Convex programming (90C25) Model predictive control (93B45) Linear systems in control theory (93C05) Input-output approaches in control theory (93D25)

Abstract: We propose a novel approach to design a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertain system is modeled as linear parameter varying with additive disturbance. Set bounds for the system matrices and the additive uncertainty are assumed to be known. We formulate a novel optimization-based constraint tightening strategy around a predicted nominal trajectory which utilizes these bounds. With an appropriately designed terminal cost function and constraint set, we prove robust satisfaction of the imposed constraints by the resulting MPC in closed-loop with the uncertain system, and Input to State Stability of the origin. We highlight the efficacy of our proposed approach via a numerical example.

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Cited in

(8)

• Quasi-min-max MPC algorithms for LPV systems
• A feedback min-max MPC algorithm for LPV systems subject to bounded rates of change of parameters
• Robust Explicit MPC Based on Approximate Multiparametric Convex Programming
• High-order fully actuated system approaches: model predictive control with applications to under-actuated systems
• Robust security-based model predictive control for nonlinear cyber-physical system under random occurring deception attacks and actuator saturation
• Asynchronous model predictive control of LPV systems with stochastic communication protocol
• Computationally efficient system level tube-MPC for uncertain systems
• Robust sampled-time control for a class of constrained nonlinear systems: an interval predictor-based MPC approach

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