Robust Tube MPC for Linear Systems With Multiplicative Uncertainty

Author

Fleming, James ; Kouvaritakis, Basil ; Cannon, Mark

Author_Institution

Univ. of Oxford, Oxford, UK

Volume

60

Issue

4

fYear

2015

fDate

Apr-15

Firstpage

1087

Lastpage

1092

Abstract

Recently, a technical note [4] ensured recursive feasibility in robust model predictive control with multiplicative uncertainty by applying terminal constraints to the degrees of freedom available to the controller while constructing polytopic tube cross sections. The current note extends this technique by bounding the tube parameters in norm and constructing a terminal set based on this bound. This reduces the online computational load and so allows longer prediction horizons to be used.

Keywords

linear systems; predictive control; robust control; uncertain systems; degree-of-freedom; linear systems; multiplicative uncertainty; online computational load reduction; polytopic tube cross-sections; prediction horizons; recursive feasibility; robust model predictive control; robust tube MPC; terminal constraints; terminal set; tube parameters; Additives; Electron tubes; Heuristic algorithms; Optimization; Robustness; Uncertainty; Vectors; Constrained systems; model predictive control; multiplicative model uncertainty;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2014.2336358

Filename

6849468