Dual adaptive MPC using an exact set-membership reformulation
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Author / Producer
Date
2023
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
Adaptive model predictive control (MPC) methods using set-membership Identification to reduce parameter uncertainty are considered in this work. Strong duality is used to reformulate the set-membership equations exactly within the MPC optimization. A predicted worst-case cost is then used to enable performance-oriented exploration. The proposed approach guarantees robust constraint satisfaction and recursive feasibility. It is shown that method can be implemented using homothetic tube and flexible tube parameterizations of state tubes, and a simulation study demonstrates performance improvement over state-of-the-art controllers.
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Publication status
published
External links
Book title
22nd IFAC World Congress
Journal / series
Volume
56 (2)
Pages / Article No.
8457 - 8463
Publisher
Elsevier
Event
22nd IFAC World Congress
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Adaptive MPC; Dual control; Set-membership; Uncertain linear systems
Organisational unit
08814 - Smith, Roy (Tit.-Prof.) (ehemalig) / Smith, Roy (Tit.-Prof.) (former)
Notes
Funding
178890 - Modeling, Identification and Control of Periodic Systems in Energy Applications (SNF)
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