Improved Prediction Dynamics for Robust MPC

• 成果类型: Article
• 署名作者: Nguyen, Hoai-Nam
• 署名单位: IMT - Institut Mines-Telecom; Institut Polytechnique de Paris; Telecom SudParis
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3222754
• 发表日期: 2023
• 页码: 5445-5460
• 关键词: Ellipsoids; Upper bound; Symmetric matrices; State feedback; interpolation; uncertainty; Lyapunov methods; Alternating direction method of multipliers (ADMM); input and state constraints; invariant set; Linear matrix inequalities; Robust control; uncertain systems

摘要

This article proposes a new model predictive control (MPC) control scheme for polytopic uncertain and/or time-varying systems with state and input constraints. The MPC policies we consider employ: 1) the intersection of ellipsoids to characterize the domain of attraction, 2) a time-varying Lyapunov function to bound from above the cost function, 3) a tailored alternating direction method of multipliers algorithm to solve efficiently the online optimization problem. With respect to other well-known techniques, the main advantage of the new approach is the reduced conservativeness.