Tube MPC With Time-Varying Cross-Sections

• 成果类型: Article
• 署名作者: Wang, Kai; Zhang, Sixing; Gros, Sebastien; Rakovic, Sasa V.
• 署名单位: Norwegian University of Science & Technology (NTNU); Beijing Information Science & Technology University; Beijing Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3468093
• 发表日期: 2025
• 页码: 1851-1858
• 关键词: Proposals; uncertainty; cost function; Predictive control; Linear systems; vectors; Symmetric matrices; Constrained systems; model predictive control (MPC); Robust control; tube model predictive control

摘要

In this article, we consider tube model predictive control of discrete-time linear systems subject to additive bounded disturbances and mixed state and control constraints. An improved tube model predictive controller, leveraging the advantages and mitigating the disadvantages of three pivotal existing methods, is proposed. Its computational aspects and theoretical properties are thoroughly discussed and compared with its predecessors. Two numerical examples are provided to illustrate the benefits of the proposed method.