Homothetic tube model predictive control

The robust model predictive control for constrained linear discrete time systems is solved through the development of a homothetic tube model predictive control synthesis method. The method employs several novel features including a more general parameterization of the state and control tubes based...

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Bibliographic Details
Published in:Automatica (Oxford) 2012-08, Vol.48 (8), p.1631-1638
Main Authors: Raković, Saša V., Kouvaritakis, Basil, Findeisen, Rolf, Cannon, Mark
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Computational efficiency
Computer science
control theory
systems
Control theory. Systems
Discrete time systems
Dynamical systems
Dynamics
Exact sciences and technology
Mathematical models
Modelling and identification
Optimal control
Parametrization
Predictive control
Set invariance
Set-dynamics
System theory
Tube model predictive control
Tubes
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Summary:The robust model predictive control for constrained linear discrete time systems is solved through the development of a homothetic tube model predictive control synthesis method. The method employs several novel features including a more general parameterization of the state and control tubes based on homothety and invariance, a more flexible form of the terminal constraint set and a relaxation of the controlled dynamics of the sets that define the state and control tubes. Under natural assumptions, the proposed method is computationally efficient and it induces strong system theoretic properties.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2012.05.003