Once upon a time step: A closed-loop approach to robust MPC design
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Author / Producer
Date
2025-02
Publication Type
Journal Article
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yes
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Abstract
A novel robust model predictive control (MPC) algorithm is presented, whereby closed-loop constraint satisfaction is ensured using recursive feasibility of the MPC optimization. The proposed strategy considers the effects of model perturbations and disturbances occurring at only one time step. This is in contrast to existing formulations which compute control policies that are feasible under the worst-case realizations of all model perturbations and exogenous disturbances in the MPC prediction horizon. The proposed method has an online computational complexity similar to nominal MPC methods while guaranteeing constraint satisfaction, recursive feasibility and stability. Numerical simulations demonstrate the efficacy of our proposed approach.
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Publication status
published
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Book title
Journal / series
Volume
70 (2)
Pages / Article No.
1297 - 1303
Publisher
IEEE
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Predictive control for linear systems; Robust control; Uncertain systems; Constrained control
Organisational unit
08814 - Smith, Roy (Tit.-Prof.) (ehemalig) / Smith, Roy (Tit.-Prof.) (former)
Notes
Funding
180545 - NCCR Automation (phase I) (SNF)
178890 - Modeling, Identification and Control of Periodic Systems in Energy Applications (SNF)
178890 - Modeling, Identification and Control of Periodic Systems in Energy Applications (SNF)
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