Robust Stability of Barrier-Based Model Predictive Control

• 成果类型: Article
• 署名作者: Petsagkourakis, Panagiotis; Heath, William P.; Carrasco, Joaquin; Theodoropoulos, Constantinos
• 署名单位: University of Manchester; University of Manchester
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3010770
• 发表日期: 2021
• 页码: 1879-1886
• 关键词: Stability analysis; Numerical stability; robust stability; Robustness; uncertainty; Predictive control; Transfer functions; Global stability; input-output stability; integral quadratic constraints; MPC

摘要

Conditions for robust input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established through the construction of integral quadratic constraints (IQCs). The IQCs can be used to determine sufficient conditions for global closed-loop stability. In particular, conditions for robust stability can be obtained in the presence of unstructured model uncertainty. IQCs with both static and dynamic multipliers are developed and appropriate convex searches for the multipliers are presented. The effectiveness of the robust stability analysis is demonstrated through an illustrative numerical example.