Muñoz de la Peña, David and Bemporad, Alberto and Filippi, Carlo Robust explicit MPC based on approximate multi-parametric convex programming. In: Decision and Control Conference. IEEE, 14th-17th December 2004, pp. 2491-2496. ISBN 0-7803-8682-5 (2004)
Full text not available from this repository.Abstract
Many robust model predictive control (MPC) schemes require the online solution of a convex program, which can be computationally demanding. For deterministic MPC schemes, multi-parametric programming was successfully applied to move most computations offline. In this paper we adopt a general approximate multi-parametric algorithm recently suggested for convex problems and propose to apply it to a classical robust WC 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: | Book Section |
|---|---|
| Identification Number: | 10.1109/CDC.2004.1428788 |
| Uncontrolled Keywords: | approximate multi-parametric convex programming; classical robust WC scheme; deterministic MPC schemes; 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 > QA75 Electronic computers. Computer science T Technology > TJ Mechanical engineering and machinery |
| Research Area: | Computer Science and Applications |
| Depositing User: | Professor Alberto Bemporad |
| Date Deposited: | 27 Jul 2011 08:47 |
| Last Modified: | 05 Aug 2011 13:54 |
| URI: | http://eprints.imtlucca.it/id/eprint/565 |
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