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Robust explicit MPC based on approximate multi-parametric convex programming

Muñoz de la Peña, David and Bemporad, Alberto and Filippi, Carlo Robust explicit MPC based on approximate multi-parametric convex programming. IEEE Transactions on Automatic Control , 51 (8). pp. 1399-1403. ISSN 0018-9286 (2006)

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Many robust model predictive control (MPC) schemes require the online solution of a computationally demanding convex program. For deterministic MPC schemes, multiparametric programming was successfully applied to move offline most of the computation. In this paper, we adopt a general approximate multiparametric algorithm recently suggested for convex problems and propose to apply it to a classical robust MPC scheme. This approach enables one to implement a robust MPC controller in real time for systems with polytopic uncertainty, ensuring robust constraint satisfaction and robust convergence to a given bounded set

Item Type: Article
Identification Number: 10.1109/TAC.2006.878755
Uncontrolled Keywords: multiparametric programming; polytopic uncertainty; robust constraint satisfaction; robust convergence; robust model predictive control schemes; uncertain systems; convex programming; predictive control; robust control; uncertain systems
Subjects: Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 08:40
Last Modified: 05 Aug 2011 13:20
URI: http://eprints.imtlucca.it/id/eprint/489

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