Model Predictive Control for Linear Systems Under Relaxed Constraints

• 成果类型: Article
• 署名作者: Rakovic, Sasa V. V.; Zhang, Sixing; Sun, Haidi; Xia, Yuanqing
• 署名单位: Beijing Institute of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3137085
• 发表日期: 2023
• 页码: 369-376
• 关键词: Linear systems; PROPOSALS; COSTS; blood pressure; model predictive control; relaxed constraints

摘要

This article considers model predictive control (MPC) for linear systems under relaxed constraints. The main novelty of our proposal is the introduction, and an adequate use, of the terminal dynamics of the slack variable associated with relaxed constraints. The proposed MPC under relaxed constraints retains computational efficiency of the traditional MPC, while it guarantees positive invariance and exponential stability over an enlarged domain of attraction. The design method is also illustrated in a step-by-step manner by an academic example.